diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index c9182ecde365d..df6be468e726f 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,9 +1,11 @@ ### Automatically generated from package.xml ### -common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp +common/autoware_adapi_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_component_interface_tools/** isamu.takagi@tier4.jp -common/autoware_geography_utils/** koji.minoda@tier4.jp +common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp +common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_geography_utils/** anh.nguyen.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp @@ -22,12 +24,11 @@ common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.j common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_trajectory_container/** yukinari.hisaki.2@tier4.jp takayuki.murooka@tier4.jp mamoru.sobue@tier4.jp +common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yukinari.hisaki.2@tier4.jp +common/autoware_traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp -common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp -common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/glog_component/** takamasa.horibe@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp @@ -41,8 +42,6 @@ common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp -common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp -common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @@ -62,12 +61,11 @@ control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp -evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp -evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp -evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp +evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp +evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp @@ -99,6 +97,7 @@ localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuu localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_lanelet2_map_visualizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp @@ -106,7 +105,7 @@ map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakam perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp perception/autoware_compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_crosswalk_traffic_light_estimator/** masato.saeki@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp perception/autoware_detected_object_feature_remover/** kotaro.uetake@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/autoware_detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -136,13 +135,13 @@ perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura perception/autoware_tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp -perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp masato.saeki@tier4.jp shunsuke.miura@tier4.jp +perception/autoware_traffic_light_classifier/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_fine_detector/** masato.saeki@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_traffic_light_map_based_detector/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_multi_camera_fusion/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_traffic_light_occlusion_predictor/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_traffic_light_visualization/** masato.saeki@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp perception/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index e0748f1113db6..e70d3daf88509 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -38,7 +38,7 @@ files: - source: .github/workflows/clang-tidy-differential.yaml pre-commands: | - sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda' {source} + sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda' {source} - source: .github/workflows/check-build-depends.yaml - source: .github/workflows/clang-tidy-pr-comments.yaml - source: .github/workflows/clang-tidy-pr-comments-manually.yaml diff --git a/.github/workflows/build-and-test-daily-arm64.yaml b/.github/workflows/build-and-test-daily-arm64.yaml index 8b4c2e135e761..5e15675bece04 100644 --- a/.github/workflows/build-and-test-daily-arm64.yaml +++ b/.github/workflows/build-and-test-daily-arm64.yaml @@ -23,7 +23,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml index 66275444482b5..63822f8b1e093 100644 --- a/.github/workflows/build-and-test-daily.yaml +++ b/.github/workflows/build-and-test-daily.yaml @@ -19,7 +19,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/.github/workflows/build-and-test-differential-arm64.yaml b/.github/workflows/build-and-test-differential-arm64.yaml index 40d7a8846d13b..bc6fe11c85bfa 100644 --- a/.github/workflows/build-and-test-differential-arm64.yaml +++ b/.github/workflows/build-and-test-differential-arm64.yaml @@ -33,7 +33,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Set PR fetch depth diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 30619f7ef5aff..c824bb94b2a6c 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -42,7 +42,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos - container-suffix: -cuda runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large @@ -76,7 +76,7 @@ jobs: clang-tidy-differential: needs: build-and-test-differential runs-on: ubuntu-22.04 - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda + container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda steps: - name: Set PR fetch depth run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index a79bb60fa2929..3ffa5ebdbd29d 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -27,7 +27,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/codecov.yaml b/codecov.yaml index 4c989445a9f54..89b40a063b0ed 100644 --- a/codecov.yaml +++ b/codecov.yaml @@ -117,6 +117,7 @@ component_management: # - control/control_performance_analysis/** - control/obstacle_collision_checker/** # - control/predicted_path_checker/** + - control/autoware_collision_detector/** - component_id: localization-tier-iv-maintained-packages name: Localization TIER IV Maintained Packages @@ -215,7 +216,7 @@ component_management: - planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/** - planning/behavior_path_planner/autoware_behavior_path_planner_common/** - planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** - - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** + # - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** - planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** # - planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** - planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** @@ -245,3 +246,5 @@ component_management: - planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** - planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** - planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** + #### sampling_based_planner + - planning/sampling_based_planner/autoware_bezier_sampler/** diff --git a/common/.pages b/common/.pages index 60453f2294f27..2ca956927b905 100644 --- a/common/.pages +++ b/common/.pages @@ -2,38 +2,34 @@ nav: - 'Introduction': common - 'Testing Libraries': - 'autoware_testing': common/autoware_testing/design/autoware_testing-design - - 'fake_test_node': common/fake_test_node/design/fake_test_node-design + - 'autoware_fake_test_node': common/autoware_fake_test_node/design/fake_test_node-design - 'Test Utils': common/autoware_test_utils - 'Common Libraries': - 'autoware_auto_common': - 'comparisons': common/autoware_auto_common/design/comparisons - 'autoware_grid_map_utils': common/autoware_grid_map_utils - 'autoware_point_types': common/autoware_point_types - - 'Geography Utils': common/geography_utils + - 'Geography Utils': common/autoware_geography_utils - 'Global Parameter Loader': common/global_parameter_loader/Readme - 'Glog Component': common/glog_component - - 'interpolation': common/interpolation - - 'Kalman Filter': common/kalman_filter + - 'interpolation': common/autoware_interpolation + - 'Kalman Filter': common/autoware_kalman_filter - 'Motion Utils': common/autoware_motion_utils - 'Vehicle Utils': common/autoware_motion_utils/docs/vehicle/vehicle - - 'Object Recognition Utils': common/object_recognition_utils - - 'OSQP Interface': common/osqp_interface/design/osqp_interface-design - - 'Perception Utils': common/perception_utils - - 'QP Interface': common/qp_interface/design/qp_interface-design + - 'Object Recognition Utils': common/autoware_object_recognition_utils + - 'OSQP Interface': common/autoware_osqp_interface/design/osqp_interface-design + - 'QP Interface': common/autoware_qp_interface/design/qp_interface-design - 'Signal Processing': - - 'Introduction': common/signal_processing - - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter + - 'Introduction': common/autoware_signal_processing + - 'Butterworth Filter': common/autoware_signal_processing/documentation/ButterworthFilter + - 'autoware_traffic_light_utils': common/autoware_traffic_light_utils - 'autoware_universe_utils': common/autoware_universe_utils - - 'traffic_light_utils': common/traffic_light_utils - - 'TVM Utility': - - 'Introduction': common/tvm_utility - - 'YOLOv2 Tiny Example': common/tvm_utility/tvm-utility-yolo-v2-tiny-tests - 'RVIZ2 Plugins': - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin - 'autoware_mission_details_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin - 'bag_time_manager_rviz_plugin': common/bag_time_manager_rviz_plugin - - 'polar_grid': common/polar_grid/Readme + - 'polar_grid': common/autoware_polar_grid/Readme - 'tier4_adapi_rviz_plugin': common/tier4_adapi_rviz_plugin - 'tier4_api_utils': common/tier4_api_utils - 'tier4_camera_view_rviz_plugin': common/tier4_camera_view_rviz_plugin @@ -46,10 +42,10 @@ nav: - 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme - 'Node': - - 'Goal Distance Calculator': common/goal_distance_calculator/Readme + - 'Goal Distance Calculator': common/autoware_goal_distance_calculator/Readme - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme - 'Others': - - 'autoware_ad_api_specs': common/autoware_ad_api_specs - - 'component_interface_specs': common/component_interface_specs - - 'component_interface_tools': common/component_interface_tools - - 'component_interface_utils': common/component_interface_utils + - 'autoware_adapi_specs': common/autoware_adapi_specs + - 'autoware_component_interface_specs': common/autoware_component_interface_specs + - 'autoware_component_interface_tools': common/autoware_component_interface_tools + - 'autoware_component_interface_utils': common/autoware_component_interface_utils diff --git a/common/autoware_ad_api_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst similarity index 73% rename from common/autoware_ad_api_specs/CHANGELOG.rst rename to common/autoware_adapi_specs/CHANGELOG.rst index 9f6d14bb2c041..f94b51d97f949 100644 --- a/common/autoware_ad_api_specs/CHANGELOG.rst +++ b/common/autoware_adapi_specs/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_ad_api_specs 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: adapi vehicle topic qos (`#7847 `_) -* feat(default_ad_api): add heratbeat api (`#6969 `_) +* fix: adapi vehicle topic qos (`#7847 `_) +* feat(default_ad_api): add heratbeat api (`#6969 `_) * feat(default_ad_api): add heratbeat api * fix node dying --------- @@ -14,12 +14,12 @@ Changelog for package autoware_ad_api_specs 0.26.0 (2024-04-03) ------------------- -* feat(default_ad_api): add door api (`#5737 `_) -* chore: update api package maintainers (`#6086 `_) +* feat(default_ad_api): add door api (`#5737 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* feat(default_ad_api): add object recognition api (`#2887 `_) +* feat(default_ad_api): add object recognition api (`#2887 `_) * add object recognition api * add unorder map * pre-commit @@ -30,9 +30,9 @@ Changelog for package autoware_ad_api_specs * change topic naming --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* docs: add readme for interface packages (`#4235 `_) +* docs: add readme for interface packages (`#4235 `_) add readme for interface packages -* feat: add vehicle status api (`#2930 `_) +* feat: add vehicle status api (`#2930 `_) * add vehicle status api * update msgs * change naming @@ -57,14 +57,14 @@ Changelog for package autoware_ad_api_specs * added checking message valid * fix msgs --------- -* feat(default_ad_api): add vehicle info api (`#2984 `_) +* feat(default_ad_api): add vehicle info api (`#2984 `_) * feat(default_ad_api): add vehicle dimensions api * feat: add footprint * update api name --------- -* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) +* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) fix depth -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -72,21 +72,21 @@ Changelog for package autoware_ad_api_specs --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: update codeowners (`#3513 `_) -* feat(default_ad_api): add route change api (`#3197 `_) +* chore: update codeowners (`#3513 `_) +* feat(default_ad_api): add route change api (`#3197 `_) * feat: add route change api * fix: reroute --------- -* feat(default_ad_api): add planning api (`#2481 `_) +* feat(default_ad_api): add planning api (`#2481 `_) * feat(default_ad_api): add planning api * feat: complement velocity factor * feat: add stop check * feat: make the same process into a function * feat: update visualizer * fix: remove flake8 test -* chore: add api maintainers (`#2361 `_) -* feat(default_ad_api): add fail-safe api (`#2295 `_) -* feat(default_ad_api): add motion api (`#1809 `_) +* chore: add api maintainers (`#2361 `_) +* feat(default_ad_api): add fail-safe api (`#2295 `_) +* feat(default_ad_api): add motion api (`#1809 `_) * feat(autoware_ad_api_specs): define motion interface * feat(default_ad_api): add motion api * feat: modify motion api @@ -102,7 +102,7 @@ Changelog for package autoware_ad_api_specs * feat: add option * feat: modify state name Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(autoware_ad_api_specs): define operation mode interface (`#1570 `_) +* feat(autoware_ad_api_specs): define operation mode interface (`#1570 `_) * feat(autoware_ad_api_msgs): define operation mode interface * fix: add message * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg @@ -112,18 +112,18 @@ Changelog for package autoware_ad_api_specs * feat: move adapi message * feat: change message type Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(autoware_ad_api_specs): define motion interface (`#1808 `_) +* feat(autoware_ad_api_specs): define motion interface (`#1808 `_) * feat(autoware_ad_api_specs): define motion interface * feat: add error code * feat: move adapi messages * feat(component_interface_utils): apply message change * feat: change message type -* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) -* feat(autoware_ad_api_specs): define localization interface (`#1560 `_) +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(autoware_ad_api_specs): define localization interface (`#1560 `_) feat(autoware_ad_api_msgs): define localization interface -* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) +* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) * feat(autoware_ad_api_msgs): define routing interface * feat: rename route body message * feat: rename route state -* feat(autoware_ad_api_specs): modify interface version api to use spec package (`#1677 `_) +* feat(autoware_ad_api_specs): modify interface version api to use spec package (`#1677 `_) * Contributors: Kah Hooi Tan, Takagi, Isamu, Vincent Richard, yabuta diff --git a/common/autoware_ad_api_specs/CMakeLists.txt b/common/autoware_adapi_specs/CMakeLists.txt similarity index 79% rename from common/autoware_ad_api_specs/CMakeLists.txt rename to common/autoware_adapi_specs/CMakeLists.txt index 5f02e45a9c6b2..62eced4c76c93 100644 --- a/common/autoware_ad_api_specs/CMakeLists.txt +++ b/common/autoware_adapi_specs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(autoware_ad_api_specs) +project(autoware_adapi_specs) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/autoware_ad_api_specs/README.md b/common/autoware_adapi_specs/README.md similarity index 100% rename from common/autoware_ad_api_specs/README.md rename to common/autoware_adapi_specs/README.md diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp similarity index 81% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp index 9b46feba47f11..d9366e567ed90 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ -#define AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ +#define AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ #include #include -namespace autoware_ad_api::fail_safe +namespace autoware::adapi_specs::fail_safe { struct MrmState @@ -31,6 +31,6 @@ struct MrmState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::fail_safe +} // namespace autoware::adapi_specs::fail_safe -#endif // AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp similarity index 77% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp index 95dca9671e768..8c94569ab8063 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ -#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ +#define AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ #include -namespace autoware_ad_api::interface +namespace autoware::adapi_specs::interface { struct Version @@ -26,6 +26,6 @@ struct Version static constexpr char name[] = "/api/interface/version"; }; -} // namespace autoware_ad_api::interface +} // namespace autoware::adapi_specs::interface -#endif // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp similarity index 84% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp index 634713845868b..92198128c5d96 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ -#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ +#define AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ #include #include #include -namespace autoware_ad_api::localization +namespace autoware::adapi_specs::localization { struct Initialize @@ -38,6 +38,6 @@ struct InitializationState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::localization +} // namespace autoware::adapi_specs::localization -#endif // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp similarity index 84% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp index 041baa9a67051..5e40b7c5bda3a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__MOTION_HPP_ -#define AUTOWARE_AD_API_SPECS__MOTION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__MOTION_HPP_ +#define AUTOWARE__ADAPI_SPECS__MOTION_HPP_ #include #include #include -namespace autoware_ad_api::motion +namespace autoware::adapi_specs::motion { struct AcceptStart @@ -38,6 +38,6 @@ struct State static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::motion +} // namespace autoware::adapi_specs::motion -#endif // AUTOWARE_AD_API_SPECS__MOTION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__MOTION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp similarity index 89% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp index f52b66cc88d2a..81f63ef63b5e0 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ -#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ +#define AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ #include #include #include -namespace autoware_ad_api::operation_mode +namespace autoware::adapi_specs::operation_mode { struct ChangeToStop @@ -68,6 +68,6 @@ struct OperationModeState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::operation_mode +} // namespace autoware::adapi_specs::operation_mode -#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp similarity index 81% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp index 5711c9a86d12a..80f876cdd588f 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ -#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ +#define AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ #include #include -namespace autoware_ad_api::perception +namespace autoware::adapi_specs::perception { struct DynamicObjectArray @@ -31,6 +31,6 @@ struct DynamicObjectArray static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::perception +} // namespace autoware::adapi_specs::perception -#endif // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp similarity index 86% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp index 4d4530dc38b75..246cd92d94385 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__PLANNING_HPP_ -#define AUTOWARE_AD_API_SPECS__PLANNING_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ +#define AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ #include #include #include -namespace autoware_ad_api::planning +namespace autoware::adapi_specs::planning { struct VelocityFactors @@ -41,6 +41,6 @@ struct SteeringFactors static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::planning +} // namespace autoware::adapi_specs::planning -#endif // AUTOWARE_AD_API_SPECS__PLANNING_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp similarity index 91% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp index 1e119bc36e9b7..4988a82bb9ad2 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__ROUTING_HPP_ -#define AUTOWARE_AD_API_SPECS__ROUTING_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ +#define AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace autoware_ad_api::routing +namespace autoware::adapi_specs::routing { struct SetRoutePoints @@ -74,6 +74,6 @@ struct Route static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::routing +} // namespace autoware::adapi_specs::routing -#endif // AUTOWARE_AD_API_SPECS__ROUTING_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp similarity index 82% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp index 09144c1d8ff50..06e039174a3c5 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ -#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ +#define AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ #include #include -namespace autoware_ad_api::system +namespace autoware::adapi_specs::system { struct Heartbeat @@ -31,6 +31,6 @@ struct Heartbeat static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::system +} // namespace autoware::adapi_specs::system -#endif // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp similarity index 91% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp index e1220bf2c5879..a7568d54b5e1a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ -#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ +#define AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ #include @@ -24,7 +24,7 @@ #include #include -namespace autoware_ad_api::vehicle +namespace autoware::adapi_specs::vehicle { struct VehicleKinematics @@ -72,6 +72,6 @@ struct DoorStatus static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::vehicle +} // namespace autoware::adapi_specs::vehicle -#endif // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ diff --git a/common/autoware_ad_api_specs/package.xml b/common/autoware_adapi_specs/package.xml similarity index 86% rename from common/autoware_ad_api_specs/package.xml rename to common/autoware_adapi_specs/package.xml index 9e9972d94df24..a949084dd8789 100644 --- a/common/autoware_ad_api_specs/package.xml +++ b/common/autoware_adapi_specs/package.xml @@ -1,9 +1,9 @@ - autoware_ad_api_specs + autoware_adapi_specs 0.38.0 - The autoware_ad_api_specs package + The autoware_adapi_specs package Takagi, Isamu Ryohsuke Mitsudome Apache License 2.0 diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst index be1965e87c2e9..271ecb7badb38 100644 --- a/common/autoware_auto_common/CHANGELOG.rst +++ b/common/autoware_auto_common/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package autoware_auto_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_auto_common): fix cppcheck warnings of functionStatic (`#8265 `_) +* fix(autoware_auto_common): fix cppcheck warnings of functionStatic (`#8265 `_) fix: deal with functionStatic warnings -* fix(autoware_auto_common): nullptr_t (`#7212 `_) -* fix: do not use c++20 char8_t keyword (`#3629 `_) +* fix(autoware_auto_common): nullptr_t (`#7212 `_) +* fix: do not use c++20 char8_t keyword (`#3629 `_) fix: do not use c++20 keyword as a type alias * Contributors: Shumpei Wakabayashi, Yutaka Kondo, ralwing, taisa1 0.26.0 (2024-04-03) ------------------- -* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) * fix(autoware_auto_common): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer (`#4234 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -33,7 +33,7 @@ Changelog for package autoware_auto_common --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore(typo): eliminate typos (`#2216 `_) +* chore(typo): eliminate typos (`#2216 `_) * Replace 'asssert' with 'assert' * fix(typo): computationall => computational * fix(typo): collinearity => collinearity @@ -205,11 +205,11 @@ Changelog for package autoware_auto_common commit c7d3b7d2132323af3437af01e9d774b13005bace Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Fri Dec 16 13:51:35 2022 +0900 - test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) + test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri Dec 16 09:29:35 2022 +0900 - feat(pose_initializer): partial map loading (`#2500 `_) + feat(pose_initializer): partial map loading (`#2500 `_) * first commit * move function * now works @@ -228,7 +228,7 @@ Changelog for package autoware_auto_common commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba Author: Kosuke Takeuchi Date: Thu Dec 15 17:29:44 2022 +0900 - feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) + feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) * feat(trajectory_follower): extend mpc trajectory for terminal yaw * make mpc min vel param * add mpc extended point after smoothing @@ -245,7 +245,7 @@ Changelog for package autoware_auto_common commit ad2ae7827bdc3af7da8607fdd53ea74940426421 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 15 15:52:34 2022 +0900 - feat(component_interface_tools): add service log checker (`#2503 `_) + feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics @@ -253,11 +253,11 @@ Changelog for package autoware_auto_common commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu Dec 15 12:54:11 2022 +0900 - fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) + fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> Date: Thu Dec 15 10:45:45 2022 +0900 - feat(behavior_path_planner): change side shift module logic (`#2195 `_) + feat(behavior_path_planner): change side shift module logic (`#2195 `_) * change side shift module design * cherry picked side shift controller * add debug marker to side shift @@ -275,45 +275,45 @@ Changelog for package autoware_auto_common commit 9183c4f20eb4592ed0b48c2eac67add070711677 Author: Takamasa Horibe Date: Wed Dec 14 19:59:00 2022 +0900 - refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) + refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) commit ed992b10ed326f03354dce3b563b8622f9ae9a6c Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 17:48:24 2022 +0900 - fix(behavior_path_planner): fix planner data copy (`#2501 `_) + fix(behavior_path_planner): fix planner data copy (`#2501 `_) commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 14:42:16 2022 +0900 - fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) + fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) * feat(behavior_path_planner): fix find nearest function from lateral distance * empty commit commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 11:28:07 2022 +0900 - feat(behavior_path_planner): fix overlap checker (`#2498 `_) + feat(behavior_path_planner): fix overlap checker (`#2498 `_) * feat(behavior_path_planner): fix overlap checker * remove reserve commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue Dec 13 16:51:59 2022 +0300 - feat(mission_planner): check goal footprint (`#2088 `_) + feat(mission_planner): check goal footprint (`#2088 `_) commit b6a18855431b5f3a67fcbf383fac8df2b45d462e Author: Takamasa Horibe Date: Tue Dec 13 22:46:24 2022 +0900 - feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) + feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 19:47:16 2022 +0900 - feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) + feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) * feat(behavior_path_planner): clean drivable area code * make a function for turn signal decider commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 18:19:41 2022 +0900 - feat(behavior_path_planner): change turn signal output timing (`#2493 `_) + feat(behavior_path_planner): change turn signal output timing (`#2493 `_) commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue Dec 13 09:16:14 2022 +0900 - feat(map_loader): add differential map loading interface (`#2417 `_) + feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -326,13 +326,13 @@ Changelog for package autoware_auto_common commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 08:49:23 2022 +0900 - docs(default_ad_api): add readme (`#2491 `_) + docs(default_ad_api): add readme (`#2491 `_) * docs(default_ad_api): add readme * feat: update table commit 49aa10b04de61c36706f6151d11bf17257ca54d1 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 06:46:20 2022 +0900 - feat(default_ad_api): split parameters into file (`#2488 `_) + feat(default_ad_api): split parameters into file (`#2488 `_) * feat(default_ad_api): split parameters into file * feat: remove old parameter * fix: test @@ -340,7 +340,7 @@ Changelog for package autoware_auto_common commit 7f0138c356c742b6e15e571e7a4683caa55969ac Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon Dec 12 22:16:54 2022 +0900 - feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) + feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -364,11 +364,11 @@ Changelog for package autoware_auto_common commit c855e23cc17d1518ebce5dd15629d03acfe17da3 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 17:15:10 2022 +0900 - refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) + refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) commit fa04d540c9afdded016730c9978920a194d2d2b4 Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon Dec 12 16:04:00 2022 +0900 - feat: replace python launch with xml launch for system monitor (`#2430 `_) + feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure @@ -376,7 +376,7 @@ Changelog for package autoware_auto_common commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 Author: Kosuke Takeuchi Date: Mon Dec 12 15:01:39 2022 +0900 - feat(trajectory_follower): pub steer converged marker (`#2441 `_) + feat(trajectory_follower): pub steer converged marker (`#2441 `_) * feat(trajectory_follower): pub steer converged marker * Revert "feat(trajectory_follower): pub steer converged marker" This reverts commit a6f6917bc542d5b533150f6abba086121e800974. @@ -384,15 +384,15 @@ Changelog for package autoware_auto_common commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 12:48:41 2022 +0900 - docs(tier4_state_rviz_plugin): update readme (`#2475 `_) + docs(tier4_state_rviz_plugin): update readme (`#2475 `_) commit d8ece0040354be5381a27403bcc757354735a77b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 11:57:03 2022 +0900 - chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) + chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 10:00:35 2022 +0900 - fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) + fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) * fix(behavior_path_planner): lane change candidate resolution * rework sampling based on current speed * refactor code @@ -402,21 +402,21 @@ Changelog for package autoware_auto_common commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 09:57:19 2022 +0900 - fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) + fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) commit 469d8927bd7a0c98b9d491d347e111065973e13f Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri Dec 9 21:27:18 2022 +0900 - revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) + revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. commit d924f85b079dfe64feab017166685be40e977e62 Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Date: Fri Dec 9 19:53:51 2022 +0800 - fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) + fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> commit b2ded82324bce78d9db3ff01b0227b00709b1efe Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri Dec 9 17:12:13 2022 +0900 - fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) + fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) * fix: reclassify ground cluster pcl * fix: add lowest-based recheck * chore: refactoring @@ -425,19 +425,19 @@ Changelog for package autoware_auto_common commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e Author: Takamasa Horibe Date: Fri Dec 9 16:29:45 2022 +0900 - fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) + fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) commit d4939058f05f9a1609f0ed22afbd0d4febfb212d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri Dec 9 12:40:30 2022 +0900 - feat(behavior_velocity_planner): clean walkway module (`#2480 `_) + feat(behavior_velocity_planner): clean walkway module (`#2480 `_) commit d3b86a37ae7c3a0d59832caf56afa13b148d562c Author: Makoto Kurihara Date: Thu Dec 8 22:59:32 2022 +0900 - fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) + fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) commit 2dde073a101e96757ef0cd189bb9ff06836934e9 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 8 17:16:13 2022 +0900 - feat(behavior_velocity_planner): add velocity factors (`#1985 `_) + feat(behavior_velocity_planner): add velocity factors (`#1985 `_) * (editting) add intersection_coordination to stop reason * (editting) add intersection coordination to stop reasons * (Editting) add v2x to stop reason @@ -488,11 +488,11 @@ Changelog for package autoware_auto_common commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 Author: Kosuke Takeuchi Date: Thu Dec 8 13:42:50 2022 +0900 - fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) + fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:57:04 2022 +0900 - feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) + feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) * feat(gyro_odometer): publish when both data arrive * remove unnecessary commentouts * ci(pre-commit): autofix @@ -513,61 +513,61 @@ Changelog for package autoware_auto_common commit f0f513cf44532dfe8d51d27c4caef23fb694af16 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:08:29 2022 +0900 - fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) + fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) commit 01daebf42937a05a2d83f3dee2c0778389492e50 Author: Takayuki Murooka Date: Thu Dec 8 00:28:35 2022 +0900 - fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) + fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed Dec 7 19:32:09 2022 +0900 - fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) + fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 18:00:32 2022 +0900 - fix(motion_utils): rename sampling function (`#2469 `_) + fix(motion_utils): rename sampling function (`#2469 `_) commit c240ce2b6f4e79c435ed651b347a7d665a947862 Author: Yukihiro Saito Date: Wed Dec 7 16:33:44 2022 +0900 - feat: remove web controller (`#2405 `_) + feat: remove web controller (`#2405 `_) commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 15:39:28 2022 +0900 - feat(motion_utils): add points resample function (`#2465 `_) + feat(motion_utils): add points resample function (`#2465 `_) commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Wed Dec 7 14:42:33 2022 +0900 - docs: update training data for traffic light (`#2464 `_) + docs: update training data for traffic light (`#2464 `_) * update traffic light cnn classifier README.md * correct to upper case Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> commit a4287165be87fa7727f79c01dfb0bea6af54c333 Author: Ryuta Kambe Date: Wed Dec 7 12:21:49 2022 +0900 - perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) + perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 12:03:46 2022 +0900 - feat(behavior_path_planner): cut overlapped path (`#2451 `_) + feat(behavior_path_planner): cut overlapped path (`#2451 `_) * feat(behavior_path_planner): cut overlapped path * clean code commit 65003dc99f2abe937afcc010514530fa666fbbfd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Wed Dec 7 11:06:41 2022 +0900 - revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) - Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" + revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) + Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" This reverts commit c4224854a7e57a9526dde998f742741fe383471c. commit fab18677ca4de378faff84a41db5147577e7448d Author: Makoto Kurihara Date: Wed Dec 7 10:32:41 2022 +0900 - fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) + fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 Author: Ambroise Vincent Date: Tue Dec 6 10:39:02 2022 +0100 - fix(tvm_utility): copy test result to CPU (`#2414 `_) + fix(tvm_utility): copy test result to CPU (`#2414 `_) Also remove dependency to autoware_auto_common. Issue-Id: SCM-5401 Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d @@ -575,12 +575,12 @@ Changelog for package autoware_auto_common commit eb9946832c7e42d5380fd71956165409d0b592c3 Author: Mamoru Sobue Date: Tue Dec 6 18:11:41 2022 +0900 - chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) + chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) changed logging level commit c4224854a7e57a9526dde998f742741fe383471c Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 6 17:01:37 2022 +0900 - fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) + fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) * fix(default_ad_api): fix autoware state to add wait time * Update system/default_ad_api/src/compatibility/autoware_state.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> @@ -588,14 +588,14 @@ Changelog for package autoware_auto_common commit f984fbb708cb02947ec2824ce041c739c35940f7 Author: Takamasa Horibe Date: Tue Dec 6 13:55:17 2022 +0900 - feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) + feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) * feat(transition_manager): add param to ignore autonomous transition condition * same for modeChangeCompleted * remove debug print commit d3e640df270a0942c4639e11451faf26e099bbe1 Author: Tomoya Kimura Date: Tue Dec 6 13:01:06 2022 +0900 - feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) + feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) * chore(cspell): interpolable => interpolatable * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing @@ -606,48 +606,48 @@ Changelog for package autoware_auto_common --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yukihiro Saito -* revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (`#2317 `_) - Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_)" +* revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (`#2317 `_) + Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_)" This reverts commit ef7dcda087beffaa0acf35e9647be1cb439007ba. -* feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_) -* docs: update link style and fix typos (`#950 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * docs: update link style * chore: fix link - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) - * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) - * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) * fixed panel type * modified instruction for rosbag replay case * modified update_map_dir service name - * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) * skipping emplace back stop reason if it is empty * add braces * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> - * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) * feat(behavior_path_planner): Weakened noise filtering of drivable area * fix lanelet's longitudinal disconnection * add comments of erode/dilate process - * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) * refactor(vehicle-cmd-gate): using namespace for msgs * for clang - * feat(pose_initializer): introduce an array copy function (`#900 `_) + * feat(pose_initializer): introduce an array copy function (`#900 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug (`#865 `_) * feat: add lidar point filter when debug * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -655,18 +655,18 @@ Changelog for package autoware_auto_common * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment - * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay - * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries (`#923 `_) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo - * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) * fix: extend following and previous search range to avoid no collision * chore: add debug marker * fix: simplify logic @@ -676,11 +676,11 @@ Changelog for package autoware_auto_common * ci(pre-commit): autofix * fix: delete debug code Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround obstacle checker): update documentation (`#878 `_) * docs(surround_obstacle_checker): update pub/sub topics & params * docs(surround_obstacle_checker): remove unused files * docs(surround_obstacke_checker): update purpose - * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) * feat(tier4_autoware_utils): add vehicle state checker * fix(tier4_autoware_utils): use absolute value * feat(tier4_autoware_utils): divide into two classies @@ -690,20 +690,20 @@ Changelog for package autoware_auto_common * fix(tier4_autoware_utils): into same loop * fix(tier4_autoware_utils): fix variables name * fix(tier4_autoware_utils): remove redundant codes - * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point * Modify overwriteStopPoint input and output - * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) * feat(obstacle_avoidance_planner) fix bug of stop line unalignment * fix bug of unsorted output points * move calcVelocity in node.cpp * fix build error - * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) - * fix(system_monitor): add some smart information to diagnostics (`#708 `_) - * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) * feat(obstacle_avoidance_planner): dealt with close lane change * fix bug of right lane change - * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -713,17 +713,17 @@ Changelog for package autoware_auto_common * update config * remove unnecessary files * update tier4_planning_launch params - * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) - * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check * feat: use marker helper - * feat(map_loader): visualize center line by points (`#931 `_) + * feat(map_loader): visualize center line by points (`#931 `_) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space - * feat: add RTC interface (`#765 `_) + * feat: add RTC interface (`#765 `_) * feature(rtc_interface): add files * feature(rtc_interface): implement functions * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md @@ -735,23 +735,23 @@ Changelog for package autoware_auto_common * feature(rtc_interface): add isRegistered and clearCooperateStatus * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore: sync files (`#911 `_) + * chore: sync files (`#911 `_) Co-authored-by: kenji-miyake - * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) * fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex - * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node * feat(tensorrt_yolo): update arg Co-authored-by: Kaan Colak - * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string @@ -790,18 +790,18 @@ Changelog for package autoware_auto_common Co-authored-by: Kaan Çolak Co-authored-by: Kaan Colak Co-authored-by: Kenji Miyake -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove license notations from CMakeLists.txt (`#846 `_) -* chore: remove bad chars (`#845 `_) -* style: fix format of package.xml (`#844 `_) -* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) +* chore: remove license notations from CMakeLists.txt (`#846 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) * fix(autoware_auto_common): modify build error in rolling * fix(autoware_auto_tf2): modify build error in rolling * fix(autoware_auto_geometry): modify build error in rolling @@ -811,8 +811,8 @@ Changelog for package autoware_auto_common * fix(simple_planning_simulator): modify build error in rolling * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: fix typos (`#751 `_) -* ci(pre-commit): clear the exclude option (`#426 `_) +* chore: fix typos (`#751 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -824,61 +824,61 @@ Changelog for package autoware_auto_common * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: remove filesystem.hpp (`#440 `_) -* feat: add autoware auto dependencies (`#185 `_) - * Back port .auto control packages (`#571 `_) +* chore: remove filesystem.hpp (`#440 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -902,7 +902,7 @@ Changelog for package autoware_auto_common Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * Port parking planner packages from .Auto (`#600 `_) + * Port parking planner packages from .Auto (`#600 `_) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms diff --git a/common/autoware_component_interface_specs/CHANGELOG.rst b/common/autoware_component_interface_specs/CHANGELOG.rst index 4f77c16d209e1..68a4eaaa2f36b 100644 --- a/common/autoware_component_interface_specs/CHANGELOG.rst +++ b/common/autoware_component_interface_specs/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_component_interface_specs 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: fix internal door interface qos (`#9144 `_) -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix: fix internal door interface qos (`#9144 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) * Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst index bbce1c4978685..d04567161c80d 100644 --- a/common/autoware_component_interface_tools/CHANGELOG.rst +++ b/common/autoware_component_interface_tools/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_component_interface_tools 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_tools): prefix package and namespace with autoware (`#9093 `_) +* refactor(component_interface_tools): prefix package and namespace with autoware (`#9093 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst index 3d8001d9db584..d27f4b4558bbc 100644 --- a/common/autoware_component_interface_utils/CHANGELOG.rst +++ b/common/autoware_component_interface_utils/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package component_interface_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt * Contributors: Yutaka Kondo, awf-autoware-bot[bot] 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* chore(component_interface_utils): set log level of debug printing to DEBUG (`#5995 `_) -* feat: add common interface utils test (`#5173 `_) +* chore(component_interface_utils): set log level of debug printing to DEBUG (`#5995 `_) +* feat: add common interface utils test (`#5173 `_) * add interface utils test * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) +* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) fix depth -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -31,15 +31,15 @@ Changelog for package component_interface_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: update codeowners (`#3513 `_) -* feat(component_interface_tools): add service log checker (`#2503 `_) +* chore: update codeowners (`#3513 `_) +* feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics * feat: update system error monitor config -* chore: add api maintainers (`#2361 `_) -* fix(component_interface_utils): fix error level (`#2322 `_) -* feat(operation_mode_transition_manager): support ad api (`#1535 `_) +* chore: add api maintainers (`#2361 `_) +* fix(component_interface_utils): fix error level (`#2322 `_) +* feat(operation_mode_transition_manager): support ad api (`#1535 `_) * feat(operation_mode_transition_manager): support ad api * fix: merge operation mode state message * feat(autoware_ad_api_msgs): define operation mode interface @@ -58,7 +58,7 @@ Changelog for package component_interface_utils * fix: fix operation mode change when disable autoware control * fix: fix operation mode change when autoware control is disabled Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(default_ad_api): add motion api (`#1809 `_) +* feat(default_ad_api): add motion api (`#1809 `_) * feat(autoware_ad_api_specs): define motion interface * feat(default_ad_api): add motion api * feat: modify motion api @@ -74,20 +74,20 @@ Changelog for package component_interface_utils * feat: add option * feat: modify state name Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(component_interface_utils): change service log output (`#2022 `_) +* feat(component_interface_utils): change service log output (`#2022 `_) * feat(component_interface_utils): change client log * feat(component_interface_utils): change server log * feat(component_interface_utils): add interface * feat: add console log -* feat(component_interface_utils): apply message change (`#1921 `_) +* feat(component_interface_utils): apply message change (`#1921 `_) * feat(component_interface_utils): apply message change * feat: add error category -* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) -* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) * feat(autoware_ad_api_msgs): define routing interface * feat: rename route body message * feat: rename route state -* feat(component_interface_utils): update service utility (`#1429 `_) +* feat(component_interface_utils): update service utility (`#1429 `_) * feat(component_interface_utils): add exceptions, relay, and synchronous service call * feat(autoware_ad_api_msgs): add status code * feat(component_interface_utils): fix for hubmle @@ -99,7 +99,7 @@ Changelog for package component_interface_utils * feat(component_interface_utils): use optional for no timeout * docs(component_interface_utils): update readme * feat(component_interface_utils): add bind function -* feat(component_interface_utils): add interface classes (`#899 `_) +* feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -107,21 +107,21 @@ Changelog for package component_interface_utils * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix: apply fixes for rolling (`#821 `_) +* fix: apply fixes for rolling (`#821 `_) * fix(component_interface_utils): add USE_DEPRECATED_TO_YAML * fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER * add rclcpp_components to package.xml * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(default_ad_api): add interface version (`#704 `_) +* feat(default_ad_api): add interface version (`#704 `_) * feat(default_ad_api): add interface version * feat(default_ad_api): add http server * feat(default_ad_api): add message readme diff --git a/common/fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst similarity index 60% rename from common/fake_test_node/CHANGELOG.rst rename to common/autoware_fake_test_node/CHANGELOG.rst index 2d1f7178976ae..096c44f41ed77 100644 --- a/common/fake_test_node/CHANGELOG.rst +++ b/common/autoware_fake_test_node/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package fake_test_node 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) +* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) * fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -18,18 +18,18 @@ Changelog for package fake_test_node 0.26.0 (2024-04-03) ------------------- -* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) * fix(autoware_auto_common): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer (`#4234 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -37,50 +37,50 @@ Changelog for package fake_test_node --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs: update link style and fix typos (`#950 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * docs: update link style * chore: fix link - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) - * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) - * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) * fixed panel type * modified instruction for rosbag replay case * modified update_map_dir service name - * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) * skipping emplace back stop reason if it is empty * add braces * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> - * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) * feat(behavior_path_planner): Weakened noise filtering of drivable area * fix lanelet's longitudinal disconnection * add comments of erode/dilate process - * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) * refactor(vehicle-cmd-gate): using namespace for msgs * for clang - * feat(pose_initializer): introduce an array copy function (`#900 `_) + * feat(pose_initializer): introduce an array copy function (`#900 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug (`#865 `_) * feat: add lidar point filter when debug * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -88,18 +88,18 @@ Changelog for package fake_test_node * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment - * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay - * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries (`#923 `_) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo - * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) * fix: extend following and previous search range to avoid no collision * chore: add debug marker * fix: simplify logic @@ -109,11 +109,11 @@ Changelog for package fake_test_node * ci(pre-commit): autofix * fix: delete debug code Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround obstacle checker): update documentation (`#878 `_) * docs(surround_obstacle_checker): update pub/sub topics & params * docs(surround_obstacle_checker): remove unused files * docs(surround_obstacke_checker): update purpose - * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) * feat(tier4_autoware_utils): add vehicle state checker * fix(tier4_autoware_utils): use absolute value * feat(tier4_autoware_utils): divide into two classies @@ -123,20 +123,20 @@ Changelog for package fake_test_node * fix(tier4_autoware_utils): into same loop * fix(tier4_autoware_utils): fix variables name * fix(tier4_autoware_utils): remove redundant codes - * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point * Modify overwriteStopPoint input and output - * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) * feat(obstacle_avoidance_planner) fix bug of stop line unalignment * fix bug of unsorted output points * move calcVelocity in node.cpp * fix build error - * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) - * fix(system_monitor): add some smart information to diagnostics (`#708 `_) - * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) * feat(obstacle_avoidance_planner): dealt with close lane change * fix bug of right lane change - * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -146,17 +146,17 @@ Changelog for package fake_test_node * update config * remove unnecessary files * update tier4_planning_launch params - * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) - * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check * feat: use marker helper - * feat(map_loader): visualize center line by points (`#931 `_) + * feat(map_loader): visualize center line by points (`#931 `_) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space - * feat: add RTC interface (`#765 `_) + * feat: add RTC interface (`#765 `_) * feature(rtc_interface): add files * feature(rtc_interface): implement functions * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md @@ -168,23 +168,23 @@ Changelog for package fake_test_node * feature(rtc_interface): add isRegistered and clearCooperateStatus * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore: sync files (`#911 `_) + * chore: sync files (`#911 `_) Co-authored-by: kenji-miyake - * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) * fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex - * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node * feat(tensorrt_yolo): update arg Co-authored-by: Kaan Colak - * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string @@ -223,18 +223,18 @@ Changelog for package fake_test_node Co-authored-by: Kaan Çolak Co-authored-by: Kaan Colak Co-authored-by: Kenji Miyake -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove license notations from CMakeLists.txt (`#846 `_) -* chore: remove bad chars (`#845 `_) -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): clear the exclude option (`#426 `_) +* chore: remove license notations from CMakeLists.txt (`#846 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -246,60 +246,60 @@ Changelog for package fake_test_node * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add autoware auto dependencies (`#185 `_) - * Back port .auto control packages (`#571 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -323,7 +323,7 @@ Changelog for package fake_test_node Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * Port parking planner packages from .Auto (`#600 `_) + * Port parking planner packages from .Auto (`#600 `_) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms diff --git a/common/fake_test_node/CMakeLists.txt b/common/autoware_fake_test_node/CMakeLists.txt similarity index 51% rename from common/fake_test_node/CMakeLists.txt rename to common/autoware_fake_test_node/CMakeLists.txt index 8ad71df2777f3..1be6cdf51ee00 100644 --- a/common/fake_test_node/CMakeLists.txt +++ b/common/autoware_fake_test_node/CMakeLists.txt @@ -1,17 +1,17 @@ cmake_minimum_required(VERSION 3.14) -project(fake_test_node) +project(autoware_fake_test_node) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp) +ament_auto_add_library(${PROJECT_NAME} SHARED src/fake_test_node.cpp) if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_fake_test_node test/test_fake_test_node.cpp ) - add_dependencies(test_fake_test_node fake_test_node) - target_link_libraries(test_fake_test_node fake_test_node) + add_dependencies(test_fake_test_node ${PROJECT_NAME}) + target_link_libraries(test_fake_test_node ${PROJECT_NAME}) endif() ament_auto_package() diff --git a/common/fake_test_node/design/fake_test_node-design.md b/common/autoware_fake_test_node/design/fake_test_node-design.md similarity index 91% rename from common/fake_test_node/design/fake_test_node-design.md rename to common/autoware_fake_test_node/design/fake_test_node-design.md index c9c040881664a..34142c3529ea9 100644 --- a/common/fake_test_node/design/fake_test_node-design.md +++ b/common/autoware_fake_test_node/design/fake_test_node-design.md @@ -10,8 +10,8 @@ fixture. This package contains a library that introduces two utility classes that can be used in place of custom fixtures described above to write integration tests for a node: -- `autoware::tools::testing::FakeTestNode` - to use as a custom test fixture with `TEST_F` tests -- `autoware::tools::testing::FakeTestNodeParametrized` - to use a custom test fixture with the +- `autoware::fake_test_node::FakeTestNode` - to use as a custom test fixture with `TEST_F` tests +- `autoware::fake_test_node::FakeTestNodeParametrized` - to use a custom test fixture with the parametrized `TEST_P` tests (accepts a template parameter that gets forwarded to `testing::TestWithParam`) @@ -30,10 +30,10 @@ Let's say there is a node `NodeUnderTest` that requires testing. It just subscribes to `std_msgs::msg::Int32` messages and publishes a `std_msgs::msg::Bool` to indicate that the input is positive. To test such a node the following code can be used utilizing the -`autoware::tools::testing::FakeTestNode`: +`autoware::fake_test_node::FakeTestNode`: ```cpp -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; /// @test Test that we can use a non-parametrized test. TEST_F(FakeNodeFixture, Test) { diff --git a/common/fake_test_node/include/fake_test_node/fake_test_node.hpp b/common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp similarity index 96% rename from common/fake_test_node/include/fake_test_node/fake_test_node.hpp rename to common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp index 9f7fee89776b3..40d45f0689283 100644 --- a/common/fake_test_node/include/fake_test_node/fake_test_node.hpp +++ b/common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp @@ -17,10 +17,10 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#ifndef FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ -#define FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ +#ifndef AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ +#define AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ -#include +#include #include #include @@ -30,11 +30,7 @@ #include #include -namespace autoware -{ -namespace tools -{ -namespace testing +namespace autoware::fake_test_node { /// @@ -237,8 +233,6 @@ class FAKE_TEST_NODE_PUBLIC FakeTestNode : public detail::FakeNodeCore, public : void TearDown() override; }; -} // namespace testing -} // namespace tools -} // namespace autoware +} // namespace autoware::fake_test_node -#endif // FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ +#endif // AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ diff --git a/common/fake_test_node/include/fake_test_node/visibility_control.hpp b/common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp similarity index 90% rename from common/fake_test_node/include/fake_test_node/visibility_control.hpp rename to common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp index 62e57eef113f1..d21dbfdbcfc75 100644 --- a/common/fake_test_node/include/fake_test_node/visibility_control.hpp +++ b/common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp @@ -17,8 +17,8 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#ifndef FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ -#define FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ +#ifndef AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ +#define AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ //////////////////////////////////////////////////////////////////////////////// #if defined(__WIN32) @@ -39,4 +39,4 @@ #error "Unsupported Build Configuration" #endif // defined(__WIN32) -#endif // FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ +#endif // AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ diff --git a/common/fake_test_node/package.xml b/common/autoware_fake_test_node/package.xml similarity index 96% rename from common/fake_test_node/package.xml rename to common/autoware_fake_test_node/package.xml index ac2cf75a52423..413f359eafbcc 100644 --- a/common/fake_test_node/package.xml +++ b/common/autoware_fake_test_node/package.xml @@ -1,7 +1,7 @@ - fake_test_node + autoware_fake_test_node 0.38.0 A fake node that we can use in the integration-like cpp tests. Apex.AI, Inc. diff --git a/common/fake_test_node/src/fake_test_node.cpp b/common/autoware_fake_test_node/src/fake_test_node.cpp similarity index 90% rename from common/fake_test_node/src/fake_test_node.cpp rename to common/autoware_fake_test_node/src/fake_test_node.cpp index 1704d371c3a5e..75714c0dd5b08 100644 --- a/common/fake_test_node/src/fake_test_node.cpp +++ b/common/autoware_fake_test_node/src/fake_test_node.cpp @@ -17,12 +17,12 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#include +#include #include #include -namespace +namespace autoware::fake_test_node { constexpr auto kSpinThread = false; constexpr auto kArgc = 0; @@ -34,15 +34,6 @@ std::string sanitize_test_name(const std::string & name) return sanitize_test_name; } -} // namespace - -namespace autoware -{ -namespace tools -{ -namespace testing -{ - void detail::FakeNodeCore::set_up(const std::string & test_name) { ASSERT_FALSE(rclcpp::ok()); @@ -76,6 +67,4 @@ void FakeTestNode::TearDown() tear_down(); } -} // namespace testing -} // namespace tools -} // namespace autoware +} // namespace autoware::fake_test_node diff --git a/common/fake_test_node/test/test_fake_test_node.cpp b/common/autoware_fake_test_node/test/test_fake_test_node.cpp similarity index 94% rename from common/fake_test_node/test/test_fake_test_node.cpp rename to common/autoware_fake_test_node/test/test_fake_test_node.cpp index 77e9294cb48c2..886433ed5fff6 100644 --- a/common/fake_test_node/test/test_fake_test_node.cpp +++ b/common/autoware_fake_test_node/test/test_fake_test_node.cpp @@ -17,7 +17,7 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#include +#include #include #include @@ -30,8 +30,8 @@ using bool8_t = bool; -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; -using FakeNodeFixtureParametrized = autoware::tools::testing::FakeTestNodeParametrized; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; +using FakeNodeFixtureParametrized = autoware::fake_test_node::FakeTestNodeParametrized; using std_msgs::msg::Bool; using std_msgs::msg::Int32; diff --git a/common/autoware_geography_utils/CHANGELOG.rst b/common/autoware_geography_utils/CHANGELOG.rst index 388f4669a7fa2..623861bbd01c3 100644 --- a/common/autoware_geography_utils/CHANGELOG.rst +++ b/common/autoware_geography_utils/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_geography_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst index 7764103e0a7fe..4b38ad848193b 100644 --- a/common/autoware_goal_distance_calculator/CHANGELOG.rst +++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_goal_distance_calculator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(goal_distance_calculator): prefix package and namespace with autoware (`#9172 `_) +* refactor(goal_distance_calculator): prefix package and namespace with autoware (`#9172 `_) * refactor(goal_distance_calculator): prefix package and namespace with autoware * style(pre-commit): autofix --------- diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst index bd67bd4f9ea8b..ee66753285b0e 100644 --- a/common/autoware_grid_map_utils/CHANGELOG.rst +++ b/common/autoware_grid_map_utils/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_grid_map_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) +* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst index b26a3224874e6..fbba411fcdeca 100644 --- a/common/autoware_interpolation/CHANGELOG.rst +++ b/common/autoware_interpolation/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_interpolation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 * Contributors: Esteve Fernandez, Yutaka Kondo diff --git a/common/autoware_kalman_filter/CHANGELOG.rst b/common/autoware_kalman_filter/CHANGELOG.rst index e21cf3ead34ec..becf8dc95abec 100644 --- a/common/autoware_kalman_filter/CHANGELOG.rst +++ b/common/autoware_kalman_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_kalman_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) * refactor(kalman_filter): prefix package and namespace with autoware * move headers to include/autoware/ * style(pre-commit): autofix diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst index 58221545156fe..84374fb8a3f26 100644 --- a/common/autoware_motion_utils/CHANGELOG.rst +++ b/common/autoware_motion_utils/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_motion_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_motion_utils): add spherical linear interpolator (`#9175 `_) -* test(motion_utils): add test for path shift (`#9083 `_) +* feat(autoware_motion_utils): add spherical linear interpolator (`#9175 `_) +* test(motion_utils): add test for path shift (`#9083 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header @@ -16,31 +16,31 @@ Changelog for package autoware_motion_utils * add unit test to all function * fix spelling --------- -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* refactor(autoware_motion_utils): refactor interpolator (`#8931 `_) +* refactor(autoware_motion_utils): refactor interpolator (`#8931 `_) * refactor interpolator * update cmake * update * rename * Update CMakeLists.txt --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(autoware_motion_utils): set zero velocity after stop in resample trajectory (`#8768 `_) +* feat(autoware_motion_utils): set zero velocity after stop in resample trajectory (`#8768 `_) * feat(autoware_motion_utils): set zero velocity after stop in resample trajectory * fix unit test * simplify implementation * update comment and add test --------- -* fix(autoware_motion_utils): fix unusedFunction (`#8733 `_) +* fix(autoware_motion_utils): fix unusedFunction (`#8733 `_) refactor:remove Path/Trajectory length calculation between designated points -* feat(autoware_motion_utils): add clone function and make the constructor public (`#8688 `_) +* feat(autoware_motion_utils): add clone function and make the constructor public (`#8688 `_) * feat(autoware_motion_utils): add interpolator * use int32_t instead of int * use int32_t instead of int @@ -55,8 +55,8 @@ Changelog for package autoware_motion_utils * fix stairstep * make constructor to public --------- -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* feat(autoware_motion_utils): add interpolator (`#8517 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* feat(autoware_motion_utils): add interpolator (`#8517 `_) * feat(autoware_motion_utils): add interpolator * use int32_t instead of int * use int32_t instead of int @@ -68,9 +68,9 @@ Changelog for package autoware_motion_utils * remove unused include * refactor code --------- -* fix(autoware_motion_utils): fix unusedFunction (`#8519 `_) +* fix(autoware_motion_utils): fix unusedFunction (`#8519 `_) fix: unusedFunction -* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength * Update trajectory.hpp Co-authored-by: Kyoichi Sugahara @@ -78,8 +78,8 @@ Changelog for package autoware_motion_utils Co-authored-by: Kyoichi Sugahara --------- Co-authored-by: Kyoichi Sugahara -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir * Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Nagi70, Yukinari Hisaki, Yutaka Kondo, kobayu858 diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp new file mode 100644 index 0000000000000..5b701a73ac543 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp @@ -0,0 +1,51 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ +#define AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ + +#include +#include +#include + +#include + +namespace autoware::motion_utils +{ + +using autoware_adapi_v1_msgs::msg::PlanningBehavior; +using autoware_adapi_v1_msgs::msg::SteeringFactor; +using SteeringFactorBehavior = SteeringFactor::_behavior_type; +using SteeringFactorStatus = SteeringFactor::_status_type; +using geometry_msgs::msg::Pose; + +class SteeringFactorInterface +{ +public: + [[nodiscard]] SteeringFactor get() const { return steering_factor_; } + void init(const SteeringFactorBehavior & behavior) { behavior_ = behavior; } + void reset() { steering_factor_.behavior = PlanningBehavior::UNKNOWN; } + + void set( + const std::array & pose, const std::array distance, + const uint16_t direction, const uint16_t status, const std::string & detail = ""); + +private: + SteeringFactorBehavior behavior_{SteeringFactor::UNKNOWN}; + SteeringFactor steering_factor_{}; +}; + +} // namespace autoware::motion_utils + +#endif // AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp index 30eca6927db34..2fcde52ec7c81 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp @@ -44,6 +44,9 @@ class VelocityFactorInterface const std::vector & points, const Pose & curr_pose, const Pose & stop_pose, const VelocityFactorStatus status, const std::string & detail = ""); + void set( + const double & distance, const VelocityFactorStatus & status, const std::string & detail = ""); + private: VelocityFactorBehavior behavior_{VelocityFactor::UNKNOWN}; VelocityFactor velocity_factor_{}; diff --git a/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp new file mode 100644 index 0000000000000..f85b5b26cd0c2 --- /dev/null +++ b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp @@ -0,0 +1,32 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +namespace autoware::motion_utils +{ +void SteeringFactorInterface::set( + const std::array & pose, const std::array distance, const uint16_t direction, + const uint16_t status, const std::string & detail) +{ + steering_factor_.pose = pose; + std::array converted_distance{0.0, 0.0}; + for (int i = 0; i < 2; ++i) converted_distance[i] = static_cast(distance[i]); + steering_factor_.distance = converted_distance; + steering_factor_.behavior = behavior_; + steering_factor_.direction = direction; + steering_factor_.status = status; + steering_factor_.detail = detail; +} +} // namespace autoware::motion_utils diff --git a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp index e405cdb655c02..6a1ddff453bd0 100644 --- a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp +++ b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp @@ -36,6 +36,15 @@ void VelocityFactorInterface::set( velocity_factor_.detail = detail; } +void VelocityFactorInterface::set( + const double & distance, const VelocityFactorStatus & status, const std::string & detail) +{ + velocity_factor_.behavior = behavior_; + velocity_factor_.distance = static_cast(distance); + velocity_factor_.status = status; + velocity_factor_.detail = detail; +} + template void VelocityFactorInterface::set( const std::vector &, const Pose &, const Pose &, const VelocityFactorStatus, const std::string &); diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst index 98d08c67169e6..1ff6a870e3791 100644 --- a/common/autoware_object_recognition_utils/CHANGELOG.rst +++ b/common/autoware_object_recognition_utils/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_object_recognition_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_osqp_interface/CHANGELOG.rst b/common/autoware_osqp_interface/CHANGELOG.rst index c78a17f62712d..5af614d9301ad 100644 --- a/common/autoware_osqp_interface/CHANGELOG.rst +++ b/common/autoware_osqp_interface/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_osqp_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst index 132502aff6c54..86a9f62f236fa 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_mission_details_overlay_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) +* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) feat: Add color customization to gear, speed, mission,speedlimit and traffic displays -* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) * Contributors: Ahmed Ebrahim, Khalil Selyan, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst index 84168438ac709..012be9e7cce85 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_overlay_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(speed_display): always show speed positive and depend on gear for negatives (`#8957 `_) -* style: update state panel plugin (`#8846 `_) -* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) +* fix(speed_display): always show speed positive and depend on gear for negatives (`#8957 `_) +* style: update state panel plugin (`#8846 `_) +* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) feat: Add color customization to gear, speed, mission,speedlimit and traffic displays -* fix(autoware_overlay_rviz_plugin): topic type of traffic light (`#8098 `_) +* fix(autoware_overlay_rviz_plugin): topic type of traffic light (`#8098 `_) * fix(autoware_overlay_rviz_plugin): topic type of traffic light * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add handle angle scale property to signal display (`#7774 `_) +* feat: add handle angle scale property to signal display (`#7774 `_) * feat: add handle angle scale property to signal display * fix: set default steering angle to 0.0° when not received * fix: set default steering angle to N/A when not received and check for msg_ptr instead of float value @@ -22,17 +22,17 @@ Changelog for package autoware_overlay_rviz_plugin * chore: update steering wheel display to center the steering angle text * chore: align steering angle text in both negative and positive cases --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(autoware_overlay_rviz_plugin): fix subs and cleanup (`#6978 `_) -* feat: update rviz2 overlay (`#6883 `_) -* feat(autoware_overlay_rviz_plugin): get the current traffic light (`#6899 `_) +* fix(autoware_overlay_rviz_plugin): fix subs and cleanup (`#6978 `_) +* feat: update rviz2 overlay (`#6883 `_) +* feat(autoware_overlay_rviz_plugin): get the current traffic light (`#6899 `_) * Contributors: Khalil Selyan, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Tomohito ANDO, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* build(autoware_overlay_rviz_plugin): add missing ament_cmake_auto dependency (`#6519 `_) -* feat: update vehicle overlay plugin (`#6323 `_) +* build(autoware_overlay_rviz_plugin): add missing ament_cmake_auto dependency (`#6519 `_) +* feat: update vehicle overlay plugin (`#6323 `_) * Contributors: Esteve Fernandez, Khalil Selyan diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst index d77ddff29ba86..436099b87795e 100644 --- a/common/autoware_path_distance_calculator/CHANGELOG.rst +++ b/common/autoware_path_distance_calculator/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_path_distance_calculator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: add autoware prefix (`#8385 `_) -* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) +* fix: add autoware prefix (`#8385 `_) +* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) * Contributors: Esteve Fernandez, Kotaro Uetake, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_perception_rviz_plugin/CHANGELOG.rst b/common/autoware_perception_rviz_plugin/CHANGELOG.rst index 638652d32b09c..0f8e5ff1f7fd8 100644 --- a/common/autoware_perception_rviz_plugin/CHANGELOG.rst +++ b/common/autoware_perception_rviz_plugin/CHANGELOG.rst @@ -5,35 +5,35 @@ Changelog for package autoware_perception_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_perception_rviz_plugin): fix unusedFunction (`#8784 `_) +* fix(autoware_perception_rviz_plugin): fix unusedFunction (`#8784 `_) fix: unusedFunction -* feat(autoware_perception_rviz_plugin): rviz predicted path mark as triangle (`#8536 `_) +* feat(autoware_perception_rviz_plugin): rviz predicted path mark as triangle (`#8536 `_) * refactor: predicted path mark replace to triangle * chore: clean up --------- -* fix(autoware_perception_rviz_plugin): fix passedByValue (`#8192 `_) +* fix(autoware_perception_rviz_plugin): fix passedByValue (`#8192 `_) * fix: passedByValue * fix:passedByValue --------- Co-authored-by: kobayu858 -* chore(autoware_perception_rviz_plugin): delete maintainer (`#7900 `_) -* fix(autoware_perception_rviz_plugin): fix duplicateBranch warnings (`#7695 `_) +* chore(autoware_perception_rviz_plugin): delete maintainer (`#7900 `_) +* fix(autoware_perception_rviz_plugin): fix duplicateBranch warnings (`#7695 `_) * fix(autoware_perception_rviz_plugin): fix duplicateBranch warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(autoware_auto_perception_rviz_plugin)!: rename package to autoware_perception_rviz_plugin (`#7221 `_) +* feat(autoware_auto_perception_rviz_plugin)!: rename package to autoware_perception_rviz_plugin (`#7221 `_) feat(autoware_auto_perception_rviz_plugin): rename package to autoware_perception_rviz_plugin Co-authored-by: Yukihiro Saito * Contributors: Hayate TOBA, Nagi70, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi Tanaka, Taekjin LEE, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* feat: add rviz plugin packages (`#3 `_) +* feat: add rviz plugin packages (`#3 `_) * release v0.4.0 * remove ROS1 packages temporarily * add sample ros2 packages @@ -41,55 +41,55 @@ Changelog for package autoware_perception_rviz_plugin * Revert "remove ROS1 packages temporarily" This reverts commit 7eacbcea261a65d6c305c7b0d069591ca3a2ee3a. * add COLCON_IGNORE to ros1 packages - * Port autoware-perception-rviz-plugin (`#100 `_) + * Port autoware-perception-rviz-plugin (`#100 `_) * Port to ROS2 * Update namespaces - * Port autoware-planning-rviz-plugin (`#103 `_) + * Port autoware-planning-rviz-plugin (`#103 `_) * Port to ROS2 * Update deprecated * Update namespaces - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * Fix rviz plugins (`#175 `_) + * Fix rviz plugins (`#175 `_) * [autoware_perception_rviz_plugin] make library to shared and fix library name in plugin_description.xml * [autoware_planning_rviz_plugin] make library to shared and fix library name in plugin_description.xml - * Port autoware vehicle rviz plugin (`#111 `_) + * Port autoware vehicle rviz plugin (`#111 `_) * Port to ROS2 * Amend buildtool * Fix license * Fix * Fixes - * adding linters to autoware_planning_rviz_plugin (`#224 `_) - * adding linters to autoware_perception_rviz_plugin (`#225 `_) - * [autoware_perception_rviz_plugin] make plugin library SHARED (`#236 `_) - * Fix bugs in autoware vehicle rviz plugin (`#246 `_) - * Ros2 v0.8.0 autoware vehicle rviz plugin (`#333 `_) + * adding linters to autoware_planning_rviz_plugin (`#224 `_) + * adding linters to autoware_perception_rviz_plugin (`#225 `_) + * [autoware_perception_rviz_plugin] make plugin library SHARED (`#236 `_) + * Fix bugs in autoware vehicle rviz plugin (`#246 `_) + * Ros2 v0.8.0 autoware vehicle rviz plugin (`#333 `_) * add test depend - * fix console meter size (`#909 `_) - * update to change font scale (`#910 `_) - * Fix typos in common modules (`#914 `_) + * fix console meter size (`#909 `_) + * update to change font scale (`#910 `_) + * Fix typos in common modules (`#914 `_) * fix typos in common modules * minor fix (lowercasing) * revert changes in PathPoint.msg - * Fix memory leaks in turn signal plugin (`#932 `_) + * Fix memory leaks in turn signal plugin (`#932 `_) * fix memory leak (QPointF) * convert raw pointers to smart pointers - * update handle image (`#948 `_) - * reduce calc cost rviz plugin (`#947 `_) + * update handle image (`#948 `_) + * reduce calc cost rviz plugin (`#947 `_) * reduce calc cost * cosmetic change * cosmetic change * Use CMAKE_CXX_STANDARD to enable C++14 for Qt Co-authored-by: Kenji Miyake - * change font size independency desplay (`#946 `_) - * bug fix (wrong unit conversion) (`#956 `_) - * Refactor autoware_vehicle_rviz_plugin (`#967 `_) + * change font size independency desplay (`#946 `_) + * bug fix (wrong unit conversion) (`#956 `_) + * Refactor autoware_vehicle_rviz_plugin (`#967 `_) * Refactor autoware_vehicle_rviz_plugin - change smart pointers to raw pointers according to Qt convention - remove unused headers @@ -97,7 +97,7 @@ Changelog for package autoware_perception_rviz_plugin - cosmetic changes according to Google C++ Style Guide - use the range-based for statement - replace push_back with emplace_back - See also: `#932 `_, `#964 `_ + See also: `#932 `_, `#964 `_ * Apply clang-format * Change a variable name to clarify: history -> histories * add build testing @@ -107,28 +107,28 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Yukihiro Saito Co-authored-by: Kazuki Miyahara Co-authored-by: Kenji Miyake - * Ros2 v0.8.0 autoware perception rviz plugin (`#334 `_) - * Fix typos in common modules (`#914 `_) + * Ros2 v0.8.0 autoware perception rviz plugin (`#334 `_) + * Fix typos in common modules (`#914 `_) * fix typos in common modules * minor fix (lowercasing) * revert changes in PathPoint.msg * ament_cmake_cppcheck -> ament_lint_common * apply lint Co-authored-by: Kazuki Miyahara - * Ros2 v0.8.0 autoware planning rviz plugin (`#336 `_) - * add speed limit visualizer (`#908 `_) + * Ros2 v0.8.0 autoware planning rviz plugin (`#336 `_) + * add speed limit visualizer (`#908 `_) * add speed limit visualizer * :put_litter_in_its_place: * add max velocity output * fix bug * update visualizer Co-authored-by: tomoya.kimura - * change font size independency desplay (`#946 `_) + * change font size independency desplay (`#946 `_) * ament_cmake_cppcheck -> ament_lint_common * apply lint * change topic type Co-authored-by: Yukihiro Saito - * Ros2 v0.8.0 remove std msgs awapi (`#348 `_) + * Ros2 v0.8.0 remove std msgs awapi (`#348 `_) * [autoware_vehicle_msgs] add BatteryStatus msg * [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages * [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages @@ -137,24 +137,24 @@ Changelog for package autoware_perception_rviz_plugin * fix build failure * fix test failures * address review commends - * Ros2 v0.9.0 pose history (`#387 `_) + * Ros2 v0.9.0 pose history (`#387 `_) * Port pose history to ROS2 - * pose_history (`#1169 `_) + * pose_history (`#1169 `_) * change pkg name * add alpha Co-authored-by: Yukihiro Saito - * fix max velocity visualization (`#397 `_) + * fix max velocity visualization (`#397 `_) * fix max velocity vis * apply lint-format - * Ros2 rtd plugin (`#444 `_) + * Ros2 rtd plugin (`#444 `_) * Use RTD instead of MFD - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) * add readme of simple_planning_simulator * Update simulator/simple_planning_simulator/README.md - * set transit_margin_time to intersect. planner (`#460 `_) - * Fix pose2twist (`#462 `_) - * Ros2 vehicle info param server (`#447 `_) + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) * add vehicle_info_param_server * update vehicle info * apply format @@ -162,7 +162,7 @@ Changelog for package autoware_perception_rviz_plugin * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * Ros2 fix topic name part2 (`#425 `_) * Fix topic name of traffic_light_classifier * Fix topic name of traffic_light_visualization * Fix topic name of traffic_light_ssd_fine_detector @@ -172,19 +172,19 @@ Changelog for package autoware_perception_rviz_plugin * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * Fix issues in hdd_reader (`#466 `_) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct - * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) - * Rviz overlay render fix (`#461 `_) + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified * acquire data in mutex * back to RTD as superclass - * Rviz overlay render in update (`#465 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -198,29 +198,29 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Unify Apache-2.0 license name (`#1242 `_) - * Porting trajectory rviz plugin (`#1295 `_) - * update trajectory rviz plugin to show velocity (`#1257 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Porting trajectory rviz plugin (`#1295 `_) + * update trajectory rviz plugin to show velocity (`#1257 `_) * update trajectory rviz plugin to show velocity * use size_t instead of int to remove warning during compiling * not show velocity on rviz unless check button is enabled - * modify visibility of velocity (`#1258 `_) + * modify visibility of velocity (`#1258 `_) * fix plugin * add dependency Co-authored-by: Takayuki Murooka Co-authored-by: tomoya.kimura - * Fix msgs (`#1379 `_) + * Fix msgs (`#1379 `_) * Fix msgs * [autoware_planning_rviz_plugin]: Fix lint Co-authored-by: wep21 - * Fix topic name of autoware_perception_rviz_plugin (`#1277 `_) (`#1479 `_) + * Fix topic name of autoware_perception_rviz_plugin (`#1277 `_) (`#1479 `_) Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Porting polar grid to ros2 (`#1507 `_) - * Add dummy unknown publisher (`#1470 `_) + * Porting polar grid to ros2 (`#1507 `_) + * Add dummy unknown publisher (`#1470 `_) * Add dummy unknown publisher * Fix lint Co-authored-by: Kenji Miyake - * Add pre-commit (`#1560 `_) + * Add pre-commit (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -240,18 +240,18 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * suppress warnings for common packages (`#1891 `_) + * suppress warnings for common packages (`#1891 `_) * add maybe unused * add Werror * fix for uncrustify - * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -265,7 +265,7 @@ Changelog for package autoware_perception_rviz_plugin * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * add autoware_state_rviz_plugin (`#2160 `_) + * add autoware_state_rviz_plugin (`#2160 `_) * initial commit * fix * use raw pointer @@ -274,11 +274,11 @@ Changelog for package autoware_perception_rviz_plugin * fix style * fix style * fix header arrangement - * add gear check and prefix label (`#2173 `_) + * add gear check and prefix label (`#2173 `_) * add gear and prefix label * add subscription * fix for cpplint - * add engage button and status (`#2257 `_) + * add engage button and status (`#2257 `_) * fix style * add engage button and engage status * use api @@ -288,14 +288,14 @@ Changelog for package autoware_perception_rviz_plugin * fix for cpplint * fix for cpplint * fix coding style - * Add datetime panel (`#2275 `_) + * Add datetime panel (`#2275 `_) * Add datetime panel - * Fix/ros time (`#2276 `_) + * Fix/ros time (`#2276 `_) * Fix ros time * Add icon Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * add footprint in trajectory msg of rviz plugin (`#1553 `_) (`#1684 `_) - * add footprint in trajectory msg of rviz plugin (`#1553 `_) + * add footprint in trajectory msg of rviz plugin (`#1553 `_) (`#1684 `_) + * add footprint in trajectory msg of rviz plugin (`#1553 `_) * add footprint in trajectory msg of rviz plugin * update * trajectory -> footprint @@ -306,11 +306,11 @@ Changelog for package autoware_perception_rviz_plugin * update * Add min value Co-authored-by: Takayuki Murooka - * Feature/trajectory point rviz plugin (`#2123 `_) + * Feature/trajectory point rviz plugin (`#2123 `_) * add trajectory point * set trajectory point view false by default - * add pull over/out module (`#2147 `_) - * Change formatter to clang-format and black (`#2332 `_) + * add pull over/out module (`#2147 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -322,27 +322,27 @@ Changelog for package autoware_perception_rviz_plugin * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * remove unused depends (`#496 `_) - * Add COLCON_IGNORE (`#500 `_) - * port planning rviz plugins (`#492 `_) + * remove unused depends (`#496 `_) + * Add COLCON_IGNORE (`#500 `_) + * port planning rviz plugins (`#492 `_) * port planning rviz plugins * remove COLCON_IGNORE Co-authored-by: Takayuki Murooka - * port autoware vehicle rviz plugin (`#542 `_) - * [ polar grid ] add readme polar grid remove colcon ignore (`#559 `_) + * port autoware vehicle rviz plugin (`#542 `_) + * [ polar grid ] add readme polar grid remove colcon ignore (`#559 `_) * remove ignore * add readme * fix invalid link - * port autoware_state_rviz_plugin (`#563 `_) - * remove COLCON_IGNORE form rviz plugins (`#544 `_) - * port autoware_perception_rviz_plugin (`#581 `_) - * add readme in rviz plugin (`#591 `_) - * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) + * port autoware_state_rviz_plugin (`#563 `_) + * remove COLCON_IGNORE form rviz plugins (`#544 `_) + * port autoware_perception_rviz_plugin (`#581 `_) + * add readme in rviz plugin (`#591 `_) + * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) * fix console meter * fix velocity_history * fix route handler * change topic name - * adding autoware_auto_perception_rviz_plugin (`#574 `_) + * adding autoware_auto_perception_rviz_plugin (`#574 `_) * [152] Implement BoundingBoxArray rviz display plugin. * [285] Clear bounding box markers before adding new markers on new message * [274] Trajectory visualization plugin @@ -354,7 +354,7 @@ Changelog for package autoware_perception_rviz_plugin 8d15f49d Add weights to acceleration and steer controls; loosen simulation test case: git-subtree-dir: src/external/mpc git-subtree-split: eaa5908bdd987051a9dcd9c505f99bfd7f028547 - * [`#404 `_] apply ament_auto macro to autoware_rviz_plugins + * [`#404 `_] apply ament_auto macro to autoware_rviz_plugins * Adding missing dependency on rviz2. * Squashed 'src/external/autoware_auto_msgs/' changes from 56550efd..f40970ea f40970ea Adding velocity_mps to VehicleControlCommand. @@ -363,9 +363,9 @@ Changelog for package autoware_perception_rviz_plugin * Update copyright headers to transfer ownership to Autoware Foundation * Add CHANGELOG and update package versions for release Add CHANGELOG and update package versions for release - * [`#286 `_] Parameterize boundingbox colors from rviz + * [`#286 `_] Parameterize boundingbox colors from rviz - Add visualization colours via Qt - * [`#813 `_] use autoware_set_compile_options() for nearly all compiled tests + * [`#813 `_] use autoware_set_compile_options() for nearly all compiled tests - fix a few causes of warnings and disable warning flags as needed for other tests - set CXX_STANDARD strictly and only in a single place @@ -373,13 +373,13 @@ Changelog for package autoware_perception_rviz_plugin - update building instructions and MR template - fix nasty initialization error of static constexpr member in `GenericState` of Kalman filter - * [`#910 `_] remove private compilation warning ignore flags - * [`#900 `_] Implement rviz plugin to visualize TrackedObjects - * [`#1110 `_] Implement rviz plugin for DetectedObjects msg + * [`#910 `_] remove private compilation warning ignore flags + * [`#900 `_] Implement rviz plugin to visualize TrackedObjects + * [`#1110 `_] Implement rviz plugin for DetectedObjects msg * Resolve "Clarify meaning of pose in *ObjectKinematics messages" - * [`#1221 `_] Add co-developed entry to copyright - * [`#1282 `_] Fix double free in ObjectPolygonDisplayBase rviz plugin - * [`#1355 `_] Make DetectedObject shape corners be in object-local coordinates + * [`#1221 `_] Add co-developed entry to copyright + * [`#1282 `_] Fix double free in ObjectPolygonDisplayBase rviz plugin + * [`#1355 `_] Make DetectedObject shape corners be in object-local coordinates * porting AAP perception visualization from https://github.com/tier4/AutowareArchitectureProposal.iv/blob/main/perception/util/visualizer/dynamic_object_visualization/include/dynamic_object_visualization/dynamic_object_visualizer.hpp * rename to autoware_auto_perception_rviz_plugin * fix copyright @@ -415,19 +415,19 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Nikolai Morin Co-authored-by: Igor Bogoslavskyi Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * add autoware_auto_perception_rviz_plugin README (`#631 `_) - * fix readme sentence grammar (`#634 `_) - * Auto/fix perception viz (`#639 `_) + * add autoware_auto_perception_rviz_plugin README (`#631 `_) + * fix readme sentence grammar (`#634 `_) + * Auto/fix perception viz (`#639 `_) * add ns of uuid * remove dynamic_object_visualization - * update to support velocity report header (`#655 `_) + * update to support velocity report header (`#655 `_) * update to support velocity report header * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp Co-authored-by: tkimura4 * use maybe_unused * fix precommit Co-authored-by: tkimura4 - * adapt to actuation cmd/status as control msg (`#646 `_) + * adapt to actuation cmd/status as control msg (`#646 `_) * adapt to actuation cmd/status as control msg * fix readme * fix topics @@ -438,35 +438,35 @@ Changelog for package autoware_perception_rviz_plugin * revert gyro_odometer_change * revert twist topic change * revert unchanged package - * FIx vehicle status topic name/type (`#658 `_) + * FIx vehicle status topic name/type (`#658 `_) * shift -> gear_status * twist -> velocity_status - * Sync .auto branch with the latest branch in internal repository (`#691 `_) - * add trajectory point offset in rviz plugin (`#2270 `_) - * sync rc rc/v0.23.0 (`#2258 `_) - * fix interpolation for insert point (`#2228 `_) + * Sync .auto branch with the latest branch in internal repository (`#691 `_) + * add trajectory point offset in rviz plugin (`#2270 `_) + * sync rc rc/v0.23.0 (`#2258 `_) + * fix interpolation for insert point (`#2228 `_) * fix interpolation for insert point * to prev interpolation pkg * Revert "to prev interpolation pkg" This reverts commit 9eb145b5d36e297186015fb17c267ccd5b3c21ef. Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: taikitanaka - * fix topic name (`#2266 `_) - * Add namespace to diag for dual_return_filter (`#2269 `_) - * Add a function to make 'geometry_msgs::msg::TransformStamped' (`#2250 `_) + * fix topic name (`#2266 `_) + * Add namespace to diag for dual_return_filter (`#2269 `_) + * Add a function to make 'geometry_msgs::msg::TransformStamped' (`#2250 `_) * Add a function to make 'geometry_msgs::msg::TransformStamped' * Add 'child_frame_id' as an argument of 'pose2transform' - * Simplify marker scale initialization (`#2286 `_) - * Fix/crosswalk polygon (`#2279 `_) + * Simplify marker scale initialization (`#2286 `_) + * Fix/crosswalk polygon (`#2279 `_) * extend crosswalk polygon * improve readability * fix polygon shape - * Add warning when decel distance calculation fails (`#2289 `_) - * [motion_velocity_smoother] ignore debug print (`#2292 `_) + * Add warning when decel distance calculation fails (`#2289 `_) + * [motion_velocity_smoother] ignore debug print (`#2292 `_) * cosmetic change * cahnge severity from WARN to DEBUG for debug info * use util for stop_watch - * fix map based prediction (`#2200 `_) + * fix map based prediction (`#2200 `_) * fix map based prediction * fix format * change map based prediction @@ -497,18 +497,18 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Kazuki Miyahara Co-authored-by: tkimura4 Co-authored-by: Kazuki Miyahara - * remove failure condition for 0 velocity trajectory (`#2295 `_) - * [mpc_follower] remove stop distance condition from stopState decision (`#1916 `_) + * remove failure condition for 0 velocity trajectory (`#2295 `_) + * [mpc_follower] remove stop distance condition from stopState decision (`#1916 `_) * [mpc_follower] remove stop distance condition from stopState decision * add invalid index handling - * Move the debug marker initialization part to another file (`#2288 `_) + * Move the debug marker initialization part to another file (`#2288 `_) * Move the debug marker initialization part to 'debug.cpp' - * Make 'isLocalOptimalSolutionOscillation' independent from 'NDTScanMatcher' (`#2300 `_) - * Remove an unused function 'getTransform' (`#2301 `_) - * Simplify iteration of initial poses (`#2310 `_) - * Make a transform object const (`#2311 `_) - * Represent poses in 'std::vector' instead of 'geometry_msgs::msg::PoseArray' (`#2312 `_) - * Feature/no stopping area (`#2163 `_) + * Make 'isLocalOptimalSolutionOscillation' independent from 'NDTScanMatcher' (`#2300 `_) + * Remove an unused function 'getTransform' (`#2301 `_) + * Simplify iteration of initial poses (`#2310 `_) + * Make a transform object const (`#2311 `_) + * Represent poses in 'std::vector' instead of 'geometry_msgs::msg::PoseArray' (`#2312 `_) + * Feature/no stopping area (`#2163 `_) * add no stopping area module to behavior velocity planner * apply utils * add polygon interpolation module order stopline around area is considered @@ -543,8 +543,8 @@ Changelog for package autoware_perception_rviz_plugin * precommit fix * cpplint Co-authored-by: Yukihiro Saito - * sync rc rc/v0.23.0 (`#2281 `_) - * Fix side shift planner (`#2171 `_) (`#2172 `_) + * sync rc rc/v0.23.0 (`#2281 `_) + * Fix side shift planner (`#2171 `_) (`#2172 `_) * add print debug * remove forward shift points when adding new point * remove debug print @@ -552,11 +552,11 @@ Changelog for package autoware_perception_rviz_plugin * Fix remove threshold Co-authored-by: Fumiya Watanabe Co-authored-by: Takamasa Horibe - * Fix/pull out and pull over (`#2175 `_) + * Fix/pull out and pull over (`#2175 `_) * delete unnecessary check * fix condition of starting pull out - * Add emergency status API (`#2174 `_) (`#2182 `_) - * Fix/mpc reset prev result (`#2185 `_) (`#2195 `_) + * Add emergency status API (`#2174 `_) (`#2182 `_) + * Fix/mpc reset prev result (`#2185 `_) (`#2195 `_) * reset prev result * clean code * reset only raw_steer_cmd @@ -564,37 +564,37 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe - * [hotfix] 1 path point exception after resampling (`#2204 `_) + * [hotfix] 1 path point exception after resampling (`#2204 `_) * fix 1 path point exception after resampling * Apply suggestions from code review * Apply suggestions from code review Co-authored-by: Takamasa Horibe Co-authored-by: tkimura4 - * [hotfix] Fix lane ids (`#2211 `_) + * [hotfix] Fix lane ids (`#2211 `_) * Fix lane ids - * Prevent acceleration on avoidance (`#2214 `_) + * Prevent acceleration on avoidance (`#2214 `_) * prevent acceleration on avoidance * fix param name * parametrize avoidance acc * change param name * fix typo - * Fix qos in roi cluster fusion (`#2218 `_) - * fix confidence (`#2220 `_) - * too high confidence (`#2229 `_) - * Fix/obstacle stop 0.23.0 (`#2232 `_) - * fix unexpected slow down in sharp curves (`#2181 `_) - * Fix/insert implementation (`#2186 `_) + * Fix qos in roi cluster fusion (`#2218 `_) + * fix confidence (`#2220 `_) + * too high confidence (`#2229 `_) + * Fix/obstacle stop 0.23.0 (`#2232 `_) + * fix unexpected slow down in sharp curves (`#2181 `_) + * Fix/insert implementation (`#2186 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> - * [hotfix] Remove exception in avoidance module (`#2233 `_) + * [hotfix] Remove exception in avoidance module (`#2233 `_) * Remove exception * Fix clock * Remove blank line - * Update traffic light state if ref stop point is ahead of previous one (`#2197 `_) - * fix interpolation for insert point (`#2228 `_) + * Update traffic light state if ref stop point is ahead of previous one (`#2197 `_) + * fix interpolation for insert point (`#2228 `_) * fix interpolation for insert point * to prev interpolation pkg - * fix index (`#2265 `_) - * turn signal calculation (`#2280 `_) + * fix index (`#2265 `_) + * turn signal calculation (`#2280 `_) * add turn signal funtion in path shifter * add ros parameters Co-authored-by: Fumiya Watanabe @@ -606,7 +606,7 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> - * [behavior_path_planner] fix sudden path change around ego (`#2305 `_) (`#2318 `_) + * [behavior_path_planner] fix sudden path change around ego (`#2305 `_) (`#2318 `_) * fix return-from-ego shift point generation logic * change param for trimSimilarGradShiftPoint * add comment for issue @@ -622,13 +622,13 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Kazuki Miyahara Co-authored-by: Takamasa Horibe Co-authored-by: Kazuki Miyahara - * Add functions to make stamped scalar messages (`#2317 `_) - * Fix/object yaw in intersection module (`#2294 `_) + * Add functions to make stamped scalar messages (`#2317 `_) + * Fix/object yaw in intersection module (`#2294 `_) * fix object orientation * fix function name - * add guard (`#2321 `_) - * reduce cost (double to float) (`#2298 `_) - * Add detail collision check (`#2274 `_) + * add guard (`#2321 `_) + * reduce cost (double to float) (`#2298 `_) + * Add detail collision check (`#2274 `_) * Add detail collision check * Remove unused function * Fix arc length @@ -639,7 +639,7 @@ Changelog for package autoware_perception_rviz_plugin * Run pre-commit * Fix cpplint * Add return for empty polygon - * update CenterPoint (`#2222 `_) + * update CenterPoint (`#2222 `_) * update to model trained by mmdet3d * add vizualizer (debug) * for multi-frame inputs @@ -656,7 +656,7 @@ Changelog for package autoware_perception_rviz_plugin * chage lint package * fix test error * commit suggestion - * Feature/lane change detection (`#2331 `_) + * Feature/lane change detection (`#2331 `_) * add old information deleter * fix access bug * change to deque @@ -678,7 +678,7 @@ Changelog for package autoware_perception_rviz_plugin * change funciton name * add lane change description Co-authored-by: Kazuki Miyahara - * Add Planning Evaluator (`#2293 `_) + * Add Planning Evaluator (`#2293 `_) * Add prototype planning evaluator Produced data for dist between points, curvature, and relative angle * Cleanup the code to make adding metrics easier @@ -714,12 +714,12 @@ Changelog for package autoware_perception_rviz_plugin * Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp * change lint format to autoware_lint_common Co-authored-by: Takamasa Horibe - * Add keep braking function at driving state (`#2346 `_) + * Add keep braking function at driving state (`#2346 `_) * Add keep braking function at driving state * Remove debug messages * Fix format - * Change diag_updater's pediod from default to 0.1sec (`#2348 `_) - * add cross judgement and common signal function (`#2319 `_) + * Change diag_updater's pediod from default to 0.1sec (`#2348 `_) + * add cross judgement and common signal function (`#2319 `_) * merge branch turn_signal_common * add turn signal function in signal decider * add cross judge in path_utilities and delete from turn_signal_decider @@ -739,27 +739,27 @@ Changelog for package autoware_perception_rviz_plugin * fix typo * decrease nest * run pre commit - * Add 0 limit at forward jerk velocity filter (`#2340 `_) - * add time offset param to point cloud concatenation (`#2303 `_) + * Add 0 limit at forward jerk velocity filter (`#2340 `_) + * add time offset param to point cloud concatenation (`#2303 `_) * add offset param * clang-format Co-authored-by: Akihito OHSATO - * Feature/add doc for keep braking function at driving state (`#2366 `_) + * Feature/add doc for keep braking function at driving state (`#2366 `_) * Add the description of brake keeping * Add the english document * Improve description * Add english description - * Fix include files (`#2339 `_) + * Fix include files (`#2339 `_) * fix behavior intersection module * fix behavior no stopping area module * fix planning_evaluator * fix motion_velocity_smoother * rename variable - * Revert "[mpc_follower] remove stop distance condition from stopState decision (`#1916 `_)" + * Revert "[mpc_follower] remove stop distance condition from stopState decision (`#1916 `_)" This reverts commit ff4f0b5a844d1f835f1b93bd3b36a76747b0cd02. - * Revert "Add keep braking function at driving state (`#2346 `_)" + * Revert "Add keep braking function at driving state (`#2346 `_)" This reverts commit f0478187db4c28bf6092c198723dcc5ec11a9c70. - * Revert "Feature/add doc for keep braking function at driving state (`#2366 `_)" + * Revert "Feature/add doc for keep braking function at driving state (`#2366 `_)" This reverts commit 66de2f3924a479049fce2d5c5c6b579cacbd3e49. * Fix orientation availability in centerpoint * fix test_trajectory.cpp @@ -789,17 +789,17 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Co-authored-by: Akihito OHSATO Co-authored-by: Kenji Miyake - * [autoware_auto_perception_rviz_plugin]fix bug (`#721 `_) + * [autoware_auto_perception_rviz_plugin]fix bug (`#721 `_) * fix perception_marker * fix missing commit * apply format - * patch for PR721 (`#722 `_) + * patch for PR721 (`#722 `_) * fix id_map erase operation * fix code to use c++11 function * update tracked_objects_display * fix bug Co-authored-by: Taichi Higashide - * fix rviz plugin (`#743 `_) + * fix rviz plugin (`#743 `_) * move plugin packages * add ignore file to apply pre-commit Co-authored-by: mitsudome-r diff --git a/common/autoware_point_types/CHANGELOG.rst b/common/autoware_point_types/CHANGELOG.rst index d0fa56778928f..3aa6d4183543e 100644 --- a/common/autoware_point_types/CHANGELOG.rst +++ b/common/autoware_point_types/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_point_types 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* feat: migrating pointcloud types (`#6996 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* feat: migrating pointcloud types (`#6996 `_) * feat: changed most of sensing to the new type * chore: started applying changes to the perception stack * feat: confirmed operation until centerpoint @@ -26,8 +26,8 @@ Changelog for package autoware_point_types --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> -* chore: updated maintainers for the autoware_point_types package (`#7797 `_) -* docs(common): adding .pages file (`#7148 `_) +* chore: updated maintainers for the autoware_point_types package (`#7797 `_) +* docs(common): adding .pages file (`#7148 `_) * docs(common): adding .pages file * fix naming * fix naming @@ -40,7 +40,7 @@ Changelog for package autoware_point_types 0.26.0 (2024-04-03) ------------------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -48,15 +48,15 @@ Changelog for package autoware_point_types --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* feat: add blockage diagnostics (`#461 `_) +* feat: add blockage diagnostics (`#461 `_) * feat!: add blockage diagnostic * fix: typo * docs: add documentation @@ -83,7 +83,7 @@ Changelog for package autoware_point_types * docs: add limits * chore: check overflow Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci: check include guard (`#438 `_) +* ci: check include guard (`#438 `_) * ci: check include guard * apply pre-commit * Update .pre-commit-config.yaml @@ -91,7 +91,7 @@ Changelog for package autoware_point_types * fix: pre-commit Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add point_types for wrapper (`#784 `_) (`#215 `_) +* feat: add point_types for wrapper (`#784 `_) (`#215 `_) * add point_types * Revert "add point_types" This reverts commit 5810000cd1cbd876bc22372e2bb74ccaca06187b. diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst index 06b5165dbe348..359de11cb3104 100644 --- a/common/autoware_polar_grid/CHANGELOG.rst +++ b/common/autoware_polar_grid/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_polar_grid 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(polar_grid): add autoware prefix to polar_grid (`#8945 `_) +* refactor(polar_grid): add autoware prefix to polar_grid (`#8945 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst index b63fa3f20490e..b2e26a8e0085e 100644 --- a/common/autoware_qp_interface/CHANGELOG.rst +++ b/common/autoware_qp_interface/CHANGELOG.rst @@ -5,24 +5,24 @@ Changelog for package qp_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(qp_interface): fix unreadVariable (`#8349 `_) +* fix(qp_interface): fix unreadVariable (`#8349 `_) * fix:unreadVariable * fix:unreadVariable * fix:unreadVariable --------- -* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) +* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) * perf(velocity_smoother): use ProxQP for faster optimization * consider max_iteration * disable warm start * fix test --------- -* refactor(qp_interface): clean up the code (`#8029 `_) +* refactor(qp_interface): clean up the code (`#8029 `_) * refactor qp_interface * variable names: m_XXX -> XXX\_ * update * update --------- -* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) +* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) * fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions * style(pre-commit): autofix --------- @@ -31,9 +31,9 @@ Changelog for package qp_interface 0.26.0 (2024-04-03) ------------------- -* feat(qp_interface): support proxqp (`#3699 `_) +* feat(qp_interface): support proxqp (`#3699 `_) * feat(qp_interface): add proxqp interface * update --------- -* feat(qp_interface): add new package which will contain various qp solvers (`#3697 `_) +* feat(qp_interface): add new package which will contain various qp solvers (`#3697 `_) * Contributors: Takayuki Murooka diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst index fd5a18ae12620..f0293aefdc69d 100644 --- a/common/autoware_signal_processing/CHANGELOG.rst +++ b/common/autoware_signal_processing/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_signal_processing 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: fix Boost.Optional build error on Jazzy (`#7602 `_) +* fix: fix Boost.Optional build error on Jazzy (`#7602 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる 0.26.0 (2024-04-03) diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst index 18d8154550800..b9600e7cb7f22 100644 --- a/common/autoware_test_utils/CHANGELOG.rst +++ b/common/autoware_test_utils/CHANGELOG.rst @@ -5,53 +5,53 @@ Changelog for package autoware_test_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_test_utils): add parser for PredictedObjects (`#9176 `_) +* feat(autoware_test_utils): add parser for PredictedObjects (`#9176 `_) feat(autoware_test_utils): add parser for predicted objects -* refactor(autoware_test_utils): sanitizer header (`#9174 `_) -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* fix(autoware_test_utils): remove unnecessary cppcheck suppression (`#9165 `_) -* feat(autoware_test_utils): add parser for geometry_msgs and others (`#9167 `_) -* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) +* refactor(autoware_test_utils): sanitizer header (`#9174 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix(autoware_test_utils): remove unnecessary cppcheck suppression (`#9165 `_) +* feat(autoware_test_utils): add parser for geometry_msgs and others (`#9167 `_) +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) * add path with lane id parser * refactor parse to use template --------- -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* feat(test_utils): add simple path with lane id generator (`#9113 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* feat(test_utils): add simple path with lane id generator (`#9113 `_) * add simple path with lane id generator * chnage to explicit template * fix * add static cast * remove header file --------- -* fix(autoware_test_utils): missing ament_index_cpp dependency (`#8618 `_) -* fix(autoware_test_utils): fix unusedFunction (`#8857 `_) +* fix(autoware_test_utils): missing ament_index_cpp dependency (`#8618 `_) +* fix(autoware_test_utils): fix unusedFunction (`#8857 `_) fix:unusedFunction -* fix(autoware_test_utils): fix unusedFunction (`#8816 `_) +* fix(autoware_test_utils): fix unusedFunction (`#8816 `_) fix: unusedFunction -* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) +* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) * remove unused functions in route handler * add docstring for function getShoulderLaneletsAtPose * update test map to include shoulder lanelet * add unit test for function getShoulderLaneletsAtPose * add test case for getCenterLinePath to improve branch coverage --------- -* feat(autoware_test_utils): add qos handler in pub/sub (`#7856 `_) +* feat(autoware_test_utils): add qos handler in pub/sub (`#7856 `_) * feat: add qos handler in pub/sub * style(pre-commit): autofix * feat: update test_pub_msg function to not use setpublisher function --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(auoware_test_utils): add jump_clock interface (`#7638 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(auoware_test_utils): add jump_clock interface (`#7638 `_) * feat(auoware_test_utils): add jump_clock interface * add comment --------- -* feat(route_handler): add unit test for lane change related functions (`#7504 `_) +* feat(route_handler): add unit test for lane change related functions (`#7504 `_) * RT1-6230 feat(route_handler): add unit test for lane change related functions * fix spell check * fix spellcheck --------- -* feat(autoware_test_utils): add autoware test manager (`#7597 `_) +* feat(autoware_test_utils): add autoware test manager (`#7597 `_) * feat(detected_object_validation): add test * move to autoware_test_utils * remove perception @@ -63,11 +63,11 @@ Changelog for package autoware_test_utils * avoid using void and static_pointer_cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(autoware_test_utils): function to load paths from folder (`#7474 `_) -* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) +* refactor(autoware_test_utils): function to load paths from folder (`#7474 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) * add flag to enable/disable loop check in getLaneletSequence functions * implement function to get closest route lanelet based on previous closest lanelet * refactor DefaultPlanner::plan function @@ -84,7 +84,7 @@ Changelog for package autoware_test_utils * format fix * move test map to autoware_test_utils --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory diff --git a/common/autoware_test_utils/README.md b/common/autoware_test_utils/README.md index 7b53310e34a61..54b67d279eaac 100644 --- a/common/autoware_test_utils/README.md +++ b/common/autoware_test_utils/README.md @@ -78,10 +78,12 @@ The goal of the [Autoware Planning Test Manager](https://autowarefoundation.gith As presented in this [PR description](https://github.com/autowarefoundation/autoware.universe/pull/9207), the user can save a snapshot of the scene to a yaml file while running Planning Simulation on the test map. ```bash -ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:= sensor_model:= -ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:= sensor_model:= +ros2 launch autoware_test_utils psim_road_shoulder.launch.xml +ros2 launch autoware_test_utils psim_intersection.launch.xml ``` +It uses the autoware `sample_vehicle_description` and `sample_sensor_kit` by default, and `autoware_test_utils/config/test_vehicle_info.param.yaml` is exactly the same as that of `sample_vehicle_description`. If specified, `vehicle_model`/`sensor_model` argument is available. + ```bash ros2 service call /autoware_test_utils/topic_snapshot_saver std_srvs/srv/Empty \{\} ``` diff --git a/common/autoware_test_utils/config/sample_topic_snapshot.yaml b/common/autoware_test_utils/config/sample_topic_snapshot.yaml index 8f6e0d4ca2627..d9eff5d579540 100644 --- a/common/autoware_test_utils/config/sample_topic_snapshot.yaml +++ b/common/autoware_test_utils/config/sample_topic_snapshot.yaml @@ -24,3 +24,6 @@ fields: - name: dynamic_object type: PredictedObjects # autoware_perception_msgs::msg::PredictedObjects topic: /perception/object_recognition/objects +# - name: tracked_object +# type: TrackedObjects # autoware_perception_msgs::msg::TrackedObjects +# topic: /perception/object_recognition/tracking/objects diff --git a/common/autoware_test_utils/config/test_vehicle_info.param.yaml b/common/autoware_test_utils/config/test_vehicle_info.param.yaml index 8941b92b4e78e..185ecb9e50a7e 100644 --- a/common/autoware_test_utils/config/test_vehicle_info.param.yaml +++ b/common/autoware_test_utils/config/test_vehicle_info.param.yaml @@ -1,12 +1,13 @@ +# NOTE: this configuration is exactly the same as that of sample_vehicle_description /**: ros__parameters: - wheel_radius: 0.39 - wheel_width: 0.42 - wheel_base: 2.74 # between front wheel center and rear wheel center - wheel_tread: 1.63 # between left wheel center and right wheel center + wheel_radius: 0.383 # The radius of the wheel, primarily used for dead reckoning. + wheel_width: 0.235 # The lateral width of a wheel tire, primarily used for dead reckoning. + wheel_base: 2.79 # between front wheel center and rear wheel center + wheel_tread: 1.64 # between left wheel center and right wheel center front_overhang: 1.0 # between front wheel center and vehicle front - rear_overhang: 1.03 # between rear wheel center and vehicle rear - left_overhang: 0.1 # between left wheel center and vehicle left - right_overhang: 0.1 # between right wheel center and vehicle right + rear_overhang: 1.1 # between rear wheel center and vehicle rear + left_overhang: 0.128 # between left wheel center and vehicle left + right_overhang: 0.128 # between right wheel center and vehicle right vehicle_height: 2.5 max_steer_angle: 0.70 # [rad] diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index c760ba1c94b45..3721dc67526b5 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -330,6 +330,19 @@ void updateNodeOptions( */ PathWithLaneId loadPathWithLaneIdInYaml(); +/** + * @brief create a straight lanelet from 2 segments defined by 4 points + * @param [in] left0 start of the left segment + * @param [in] left1 end of the left segment + * @param [in] right0 start of the right segment + * @param [in] right1 end of the right segment + * @return a ConstLanelet with the given left and right bounds and a unique lanelet id + * + */ +lanelet::ConstLanelet make_lanelet( + const lanelet::BasicPoint2d & left0, const lanelet::BasicPoint2d & left1, + const lanelet::BasicPoint2d & right0, const lanelet::BasicPoint2d & right1); + /** * @brief Generates a trajectory with specified parameters. * diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index adce8176a2ade..5d36e8aefef3b 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -20,6 +20,7 @@ #include #include +#include #include #include #include @@ -47,6 +48,9 @@ using autoware_perception_msgs::msg::PredictedObjectKinematics; using autoware_perception_msgs::msg::PredictedObjects; using autoware_perception_msgs::msg::PredictedPath; using autoware_perception_msgs::msg::Shape; +using autoware_perception_msgs::msg::TrackedObject; +using autoware_perception_msgs::msg::TrackedObjectKinematics; +using autoware_perception_msgs::msg::TrackedObjects; using autoware_perception_msgs::msg::TrafficLightElement; using autoware_perception_msgs::msg::TrafficLightGroup; using autoware_perception_msgs::msg::TrafficLightGroupArray; @@ -131,6 +135,9 @@ std::vector parse(const YAML::Node & node); template <> std::vector parse(const YAML::Node & node); +template <> +LaneletRoute parse(const YAML::Node & node); + template <> std::vector parse(const YAML::Node & node); @@ -155,6 +162,15 @@ PredictedObject parse(const YAML::Node & node); template <> PredictedObjects parse(const YAML::Node & node); +template <> +TrackedObjectKinematics parse(const YAML::Node & node); + +template <> +TrackedObject parse(const YAML::Node & node); + +template <> +TrackedObjects parse(const YAML::Node & node); + template <> TrafficLightGroupArray parse(const YAML::Node & node); diff --git a/common/autoware_test_utils/launch/psim_intersection.launch.xml b/common/autoware_test_utils/launch/psim_intersection.launch.xml index 70ae619e67705..723dd7352219d 100644 --- a/common/autoware_test_utils/launch/psim_intersection.launch.xml +++ b/common/autoware_test_utils/launch/psim_intersection.launch.xml @@ -2,7 +2,7 @@ - + diff --git a/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml index 0d61abef95d2c..7dd888a036f9d 100644 --- a/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml +++ b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml @@ -2,7 +2,7 @@ - + diff --git a/common/autoware_test_utils/rviz/psim_test_map.rviz b/common/autoware_test_utils/rviz/psim_test_map.rviz index 022621885ed72..8475c94b86bb4 100644 --- a/common/autoware_test_utils/rviz/psim_test_map.rviz +++ b/common/autoware_test_utils/rviz/psim_test_map.rviz @@ -24,6 +24,8 @@ Panels: Name: AutowareStatePanel - Class: rviz_plugins::SimulatedClockPanel Name: SimulatedClockPanel + - Class: rviz_plugins::TrafficLightPublishPanel + Name: TrafficLightPublishPanel Visualization Manager: Class: "" Displays: @@ -4429,7 +4431,7 @@ Visualization Manager: Value: /rviz/routing/rough_goal - Acceleration: 0 Class: rviz_plugins/PedestrianInitialPoseTool - Interactive: true + Interactive: false Max velocity: 33.29999923706055 Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info @@ -4443,7 +4445,7 @@ Visualization Manager: - Acceleration: 0 Class: rviz_plugins/CarInitialPoseTool H vehicle height: 2 - Interactive: true + Interactive: false L vehicle length: 4 Max velocity: 33.29999923706055 Min velocity: -33.29999923706055 @@ -4459,7 +4461,7 @@ Visualization Manager: - Acceleration: 0 Class: rviz_plugins/BusInitialPoseTool H vehicle height: 3.5 - Interactive: true + Interactive: false L vehicle length: 10.5 Max velocity: 33.29999923706055 Min velocity: -33.29999923706055 @@ -4558,6 +4560,8 @@ Window Geometry: collapsed: false Tool Properties: collapsed: false + TrafficLightPublishPanel: + collapsed: false Views: collapsed: false Width: 1920 diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index 1e2c7b50912f6..696f58d5e19e8 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -313,6 +313,19 @@ PathWithLaneId loadPathWithLaneIdInYaml() return parse(yaml_path); } +lanelet::ConstLanelet make_lanelet( + const lanelet::BasicPoint2d & left0, const lanelet::BasicPoint2d & left1, + const lanelet::BasicPoint2d & right0, const lanelet::BasicPoint2d & right1) +{ + lanelet::LineString3d left_bound; + left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left0.x(), left0.y(), 0.0)); + left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left1.x(), left1.y(), 0.0)); + lanelet::LineString3d right_bound; + right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right0.x(), right0.y(), 0.0)); + right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right1.x(), right1.y(), 0.0)); + return {lanelet::utils::getId(), left_bound, right_bound}; +} + std::optional resolve_pkg_share_uri(const std::string & uri_path) { std::smatch match; diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index d2c6de5c0a46f..9e895c7b4027d 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -204,6 +204,17 @@ std::vector parse(const YAML::Node & node) return segments; } +template <> +LaneletRoute parse(const YAML::Node & node) +{ + LaneletRoute route; + + route.start_pose = parse(node["start_pose"]); + route.goal_pose = parse(node["goal_pose"]); + route.segments = parse>(node["segments"]); + return route; +} + template <> std::vector parse>(const YAML::Node & node) { @@ -330,6 +341,44 @@ PredictedObjects parse(const YAML::Node & node) return msg; } +template <> +TrackedObjectKinematics parse(const YAML::Node & node) +{ + TrackedObjectKinematics msg; + msg.pose_with_covariance = parse(node["pose_with_covariance"]); + msg.twist_with_covariance = parse(node["twist_with_covariance"]); + msg.acceleration_with_covariance = + parse(node["acceleration_with_covariance"]); + msg.orientation_availability = node["orientation_availability"].as(); + msg.is_stationary = node["is_stationary"].as(); + return msg; +} + +template <> +TrackedObject parse(const YAML::Node & node) +{ + TrackedObject msg; + msg.object_id = parse(node["object_id"]); + msg.existence_probability = node["existence_probability"].as(); + for (const auto & classification_node : node["classification"]) { + msg.classification.push_back(parse(classification_node)); + } + msg.kinematics = parse(node["kinematics"]); + msg.shape = parse(node["shape"]); + return msg; +} + +template <> +TrackedObjects parse(const YAML::Node & node) +{ + TrackedObjects msg; + msg.header = parse
(node["header"]); + for (const auto & object_node : node["objects"]) { + msg.objects.push_back(parse(object_node)); + } + return msg; +} + template <> TrafficLightElement parse(const YAML::Node & node) { diff --git a/common/autoware_test_utils/src/topic_snapshot_saver.cpp b/common/autoware_test_utils/src/topic_snapshot_saver.cpp index 29b1e19f272c2..82700be9e3f54 100644 --- a/common/autoware_test_utils/src/topic_snapshot_saver.cpp +++ b/common/autoware_test_utils/src/topic_snapshot_saver.cpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include @@ -34,12 +35,13 @@ #include using MessageType = std::variant< - nav_msgs::msg::Odometry, // 0 - geometry_msgs::msg::AccelWithCovarianceStamped, // 1 - autoware_perception_msgs::msg::PredictedObjects, // 2 - autoware_adapi_v1_msgs::msg::OperationModeState, // 3 - autoware_planning_msgs::msg::LaneletRoute, // 4 - autoware_perception_msgs::msg::TrafficLightGroupArray // 5 + nav_msgs::msg::Odometry, // 0 + geometry_msgs::msg::AccelWithCovarianceStamped, // 1 + autoware_perception_msgs::msg::PredictedObjects, // 2 + autoware_adapi_v1_msgs::msg::OperationModeState, // 3 + autoware_planning_msgs::msg::LaneletRoute, // 4 + autoware_perception_msgs::msg::TrafficLightGroupArray, // 5 + autoware_perception_msgs::msg::TrackedObjects // 6 >; std::optional get_topic_index(const std::string & name) @@ -62,6 +64,9 @@ std::optional get_topic_index(const std::string & name) if (name == "TrafficLightGroupArray") { return 5; } + if (name == "TrackedObjects") { + return 6; + } return std::nullopt; } @@ -185,6 +190,7 @@ class TopicSnapShotSaver REGISTER_CALLBACK(3); REGISTER_CALLBACK(4); REGISTER_CALLBACK(5); + REGISTER_CALLBACK(6); } } @@ -231,6 +237,7 @@ class TopicSnapShotSaver REGISTER_WRITE_TYPE(3); REGISTER_WRITE_TYPE(4); REGISTER_WRITE_TYPE(5); + REGISTER_WRITE_TYPE(6); } const std::string desc = std::string(R"(# @@ -241,7 +248,7 @@ class TopicSnapShotSaver # map_path_uri: package:/// # fields(this is array) # - name: -# type: either {Odometry | AccelWithCovarianceStamped | PredictedObjects | OperationModeState | LaneletRoute | TrafficLightGroupArray | TBD} +# type: either {Odometry | AccelWithCovarianceStamped | PredictedObjects | OperationModeState | LaneletRoute | TrafficLightGroupArray | TrackedObjects | TBD} # topic: # )"); diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index 0aeb5fb1db462..a0dd0fce9bd29 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -459,6 +459,188 @@ const char g_complete_yaml[] = R"( is_autonomous_mode_available: true is_local_mode_available: true is_remote_mode_available: true +tracked_object: + header: + stamp: + sec: 288 + nanosec: 743249865 + frame_id: map + objects: + - object_id: + uuid: + - 35 + - 106 + - 130 + - 18 + - 249 + - 15 + - 247 + - 148 + - 31 + - 235 + - 198 + - 121 + - 150 + - 136 + - 225 + - 99 + existence_probability: 0.00000 + classification: + - label: 1 + probability: 1.00000 + kinematics: + pose_with_covariance: + pose: + position: + x: 269.944 + y: 376.116 + z: 101.346 + orientation: + x: 0.00000 + y: 0.00000 + z: -0.715560 + w: 0.698551 + covariance: + - 0.0267953 + - 0.00119480 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00119480 + - 0.0831472 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00551386 + twist_with_covariance: + twist: + linear: + x: 2.99743 + y: -0.0100529 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: -0.00913898 + covariance: + - 0.609089 + - -0.00201817 + - 0.00000 + - 0.00000 + - 0.00000 + - -0.00183470 + - -0.00201817 + - 0.000777658 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000706962 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - -0.00183470 + - 0.000706962 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000642693 + acceleration_with_covariance: + accel: + linear: + x: 0.00000 + y: 0.00000 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: 0.00000 + covariance: + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + orientation_availability: 1 + is_stationary: false + shape: + type: 0 + footprint: + points: [] + dimensions: + x: 4.40000 + y: 1.73071 + z: 1.00000 )"; TEST(ParseFunctions, CompleteYAMLTest) @@ -572,6 +754,31 @@ TEST(ParseFunctions, CompleteYAMLTest) EXPECT_EQ(operation_mode.is_autonomous_mode_available, true); EXPECT_EQ(operation_mode.is_local_mode_available, true); EXPECT_EQ(operation_mode.is_remote_mode_available, true); + + const auto tracked_objects = parse(config["tracked_object"]); + EXPECT_EQ(tracked_objects.header.stamp.sec, 288); + EXPECT_EQ(tracked_objects.header.stamp.nanosec, 743249865); + EXPECT_EQ(tracked_objects.header.frame_id, "map"); + EXPECT_EQ(tracked_objects.objects.at(0).object_id.uuid.at(0), 35); + EXPECT_FLOAT_EQ(tracked_objects.objects.at(0).existence_probability, 0.0); + EXPECT_EQ(tracked_objects.objects.at(0).classification.at(0).label, 1); + EXPECT_FLOAT_EQ(tracked_objects.objects.at(0).classification.at(0).probability, 1.0); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.pose_with_covariance.pose.position.x, 269.944); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.pose_with_covariance.covariance.at(0), 0.0267953); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.twist_with_covariance.twist.linear.x, 2.99743); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.twist_with_covariance.twist.angular.z, -0.00913898); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.twist_with_covariance.covariance.at(0), 0.609089); + EXPECT_EQ(tracked_objects.objects.at(0).kinematics.orientation_availability, 1); + EXPECT_EQ(tracked_objects.objects.at(0).kinematics.is_stationary, false); + EXPECT_EQ(tracked_objects.objects.at(0).shape.type, 0); + EXPECT_EQ(tracked_objects.objects.at(0).shape.dimensions.x, 4.40000); + EXPECT_EQ(tracked_objects.objects.at(0).shape.dimensions.y, 1.73071); + EXPECT_EQ(tracked_objects.objects.at(0).shape.dimensions.z, 1.0); } TEST(ParseFunction, CompleteFromFilename) diff --git a/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm b/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm index 92307e28cf6cc..c5c5b7b1fc657 100644 --- a/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm +++ b/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm @@ -15199,6 +15199,393 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -20570,6 +20957,180 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -20997,6 +21558,7 @@ + @@ -21009,6 +21571,7 @@ + @@ -21021,6 +21584,7 @@ + @@ -21034,6 +21598,7 @@ + @@ -21046,6 +21611,7 @@ + @@ -21060,6 +21626,7 @@ + @@ -21072,6 +21639,7 @@ + @@ -21084,6 +21652,7 @@ + @@ -21097,6 +21666,7 @@ + @@ -21109,6 +21679,7 @@ + @@ -21122,6 +21693,7 @@ + @@ -21134,6 +21706,7 @@ + @@ -21148,6 +21721,7 @@ + @@ -21161,6 +21735,7 @@ + @@ -21174,6 +21749,7 @@ + @@ -21187,6 +21763,7 @@ + @@ -21200,6 +21777,7 @@ + @@ -21213,6 +21791,7 @@ + @@ -21226,6 +21805,7 @@ + @@ -21240,6 +21820,7 @@ + @@ -21254,6 +21835,7 @@ + @@ -21267,6 +21849,7 @@ + @@ -21280,6 +21863,7 @@ + @@ -21293,6 +21877,7 @@ + @@ -21306,6 +21891,7 @@ + @@ -21350,6 +21936,7 @@ + @@ -21364,6 +21951,7 @@ + @@ -21376,6 +21964,7 @@ + @@ -21671,6 +22260,7 @@ + @@ -22374,4 +22964,147 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/common/autoware_test_utils/test_map/overlap_map.osm b/common/autoware_test_utils/test_map/overlap_map.osm index 27823db79b19c..7333b45a0e9ab 100644 --- a/common/autoware_test_utils/test_map/overlap_map.osm +++ b/common/autoware_test_utils/test_map/overlap_map.osm @@ -1,684 +1,691 @@ - - - + + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -916,6 +923,102 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/common/autoware_testing/CHANGELOG.rst b/common/autoware_testing/CHANGELOG.rst index 3a33c7f99322b..36ad1ec42c3c5 100644 --- a/common/autoware_testing/CHANGELOG.rst +++ b/common/autoware_testing/CHANGELOG.rst @@ -9,13 +9,13 @@ Changelog for package autoware_testing 0.26.0 (2024-04-03) ------------------- -* chore: add maintainer (`#4234 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(smoke_test): fix smoke test failing with big nodes (`#3287 `_) +* fix(smoke_test): fix smoke test failing with big nodes (`#3287 `_) * fix(smoke_test): fix smoke test failing with big nodes * style(pre-commit): autofix * minor style changes and comment removal @@ -28,7 +28,7 @@ Changelog for package autoware_testing --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -36,47 +36,47 @@ Changelog for package autoware_testing --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* build(autoware_testing): add missing dependencies (`#3093 `_) -* ci(pre-commit): autoupdate (`#2819 `_) +* build(autoware_testing): add missing dependencies (`#3093 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs: update link style and fix typos (`#950 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * docs: update link style * chore: fix link - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) - * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) - * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) * fixed panel type * modified instruction for rosbag replay case * modified update_map_dir service name - * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) * skipping emplace back stop reason if it is empty * add braces * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> - * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) * feat(behavior_path_planner): Weakened noise filtering of drivable area * fix lanelet's longitudinal disconnection * add comments of erode/dilate process - * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) * refactor(vehicle-cmd-gate): using namespace for msgs * for clang - * feat(pose_initializer): introduce an array copy function (`#900 `_) + * feat(pose_initializer): introduce an array copy function (`#900 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug (`#865 `_) * feat: add lidar point filter when debug * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -84,18 +84,18 @@ Changelog for package autoware_testing * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment - * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay - * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries (`#923 `_) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo - * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) * fix: extend following and previous search range to avoid no collision * chore: add debug marker * fix: simplify logic @@ -105,11 +105,11 @@ Changelog for package autoware_testing * ci(pre-commit): autofix * fix: delete debug code Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround obstacle checker): update documentation (`#878 `_) * docs(surround_obstacle_checker): update pub/sub topics & params * docs(surround_obstacle_checker): remove unused files * docs(surround_obstacke_checker): update purpose - * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) * feat(tier4_autoware_utils): add vehicle state checker * fix(tier4_autoware_utils): use absolute value * feat(tier4_autoware_utils): divide into two classies @@ -119,20 +119,20 @@ Changelog for package autoware_testing * fix(tier4_autoware_utils): into same loop * fix(tier4_autoware_utils): fix variables name * fix(tier4_autoware_utils): remove redundant codes - * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point * Modify overwriteStopPoint input and output - * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) * feat(obstacle_avoidance_planner) fix bug of stop line unalignment * fix bug of unsorted output points * move calcVelocity in node.cpp * fix build error - * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) - * fix(system_monitor): add some smart information to diagnostics (`#708 `_) - * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) * feat(obstacle_avoidance_planner): dealt with close lane change * fix bug of right lane change - * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -142,17 +142,17 @@ Changelog for package autoware_testing * update config * remove unnecessary files * update tier4_planning_launch params - * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) - * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check * feat: use marker helper - * feat(map_loader): visualize center line by points (`#931 `_) + * feat(map_loader): visualize center line by points (`#931 `_) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space - * feat: add RTC interface (`#765 `_) + * feat: add RTC interface (`#765 `_) * feature(rtc_interface): add files * feature(rtc_interface): implement functions * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md @@ -164,23 +164,23 @@ Changelog for package autoware_testing * feature(rtc_interface): add isRegistered and clearCooperateStatus * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore: sync files (`#911 `_) + * chore: sync files (`#911 `_) Co-authored-by: kenji-miyake - * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) * fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex - * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node * feat(tensorrt_yolo): update arg Co-authored-by: Kaan Colak - * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string @@ -219,27 +219,27 @@ Changelog for package autoware_testing Co-authored-by: Kaan Çolak Co-authored-by: Kaan Colak Co-authored-by: Kenji Miyake -* test(autoware_testing): fix smoke_test (`#479 `_) +* test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove license notations from CMakeLists.txt (`#846 `_) -* chore: remove bad chars (`#845 `_) -* docs(autoware_testing): fix link (`#741 `_) +* chore: remove license notations from CMakeLists.txt (`#846 `_) +* chore: remove bad chars (`#845 `_) +* docs(autoware_testing): fix link (`#741 `_) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* ci(pre-commit): clear the exclude option (`#426 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -251,60 +251,60 @@ Changelog for package autoware_testing * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add autoware auto dependencies (`#185 `_) - * Back port .auto control packages (`#571 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -328,7 +328,7 @@ Changelog for package autoware_testing Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * Port parking planner packages from .Auto (`#600 `_) + * Port parking planner packages from .Auto (`#600 `_) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms diff --git a/common/autoware_time_utils/CHANGELOG.rst b/common/autoware_time_utils/CHANGELOG.rst index 8f2ebcc625ec3..73c72991895b0 100644 --- a/common/autoware_time_utils/CHANGELOG.rst +++ b/common/autoware_time_utils/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package time_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(time_utils): fix unusedFunction (`#8606 `_) +* fix(time_utils): fix unusedFunction (`#8606 `_) fix:unusedFunction * Contributors: Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* chore: add maintainer (`#4234 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -25,16 +25,16 @@ Changelog for package time_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): clear the exclude option (`#426 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -46,60 +46,60 @@ Changelog for package time_utils * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add autoware auto dependencies (`#185 `_) - * Back port .auto control packages (`#571 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -123,7 +123,7 @@ Changelog for package time_utils Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * Port parking planner packages from .Auto (`#600 `_) + * Port parking planner packages from .Auto (`#600 `_) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms diff --git a/common/traffic_light_utils/CHANGELOG.rst b/common/autoware_traffic_light_utils/CHANGELOG.rst similarity index 88% rename from common/traffic_light_utils/CHANGELOG.rst rename to common/autoware_traffic_light_utils/CHANGELOG.rst index 070be2c0b0f4a..7a62fa661e9bb 100644 --- a/common/traffic_light_utils/CHANGELOG.rst +++ b/common/autoware_traffic_light_utils/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package traffic_light_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(traffic_light_utils): fix unusedFunction (`#8605 `_) +* fix(traffic_light_utils): fix unusedFunction (`#8605 `_) * fix:unusedFunction * fix:unusedFunction --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -18,24 +18,24 @@ Changelog for package traffic_light_utils 0.26.0 (2024-04-03) ------------------- -* chore(perception modules): remove maintainer... (`#6499 `_) +* chore(perception modules): remove maintainer... (`#6499 `_) * change maintainer * add uetake san as maintainer --------- -* refactor(tier4_perception_msgs): rename traffic_signal to traffic_light (`#6375 `_) +* refactor(tier4_perception_msgs): rename traffic_signal to traffic_light (`#6375 `_) * rename traffic_signal to traffic_light * style(pre-commit): autofix * fix(crosswalk_traffic_light_estimator): remove unused include, readme * rename traffic_signal_array to traffic_light_array --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(avoidance, lane_change): modules handle unknown traffic signal in the same way as red signal (`#6013 `_) +* fix(avoidance, lane_change): modules handle unknown traffic signal in the same way as red signal (`#6013 `_) * fix(avoidance, lane_change): modules handle unknown traffic signal in the same way as red signal * feat(traffic_light_utils): add util functions * refactor(bpp): use traffic light utils * refactor(bvp): use traffic light utils --------- -* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) +* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) * add: crosswalk traffic light recognition * fix: set conf=0 when occluded * fix: clean code @@ -99,7 +99,7 @@ Changelog for package traffic_light_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu -* test(traffic_light_utils): add test_traffic_light_utils (`#4643 `_) +* test(traffic_light_utils): add test_traffic_light_utils (`#4643 `_) * test(traffic_light_utils): add test_traffic_light_utils * style(pre-commit): autofix * fix(traffic_light_utils): fix magic number @@ -108,8 +108,8 @@ Changelog for package traffic_light_utils * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs: add readme to perception related utils (`#4265 `_) -* chore: separate traffic_light_utils from perception_utils (`#4207 `_) +* docs: add readme to perception related utils (`#4265 `_) +* chore: separate traffic_light_utils from perception_utils (`#4207 `_) * separate traffic_light_utils from perception_utils * style(pre-commit): autofix * fix namespace bug diff --git a/common/traffic_light_utils/CMakeLists.txt b/common/autoware_traffic_light_utils/CMakeLists.txt similarity index 76% rename from common/traffic_light_utils/CMakeLists.txt rename to common/autoware_traffic_light_utils/CMakeLists.txt index 741bdd585ed7f..2c9d11994290e 100644 --- a/common/traffic_light_utils/CMakeLists.txt +++ b/common/autoware_traffic_light_utils/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(traffic_light_utils) +project(autoware_traffic_light_utils) find_package(autoware_cmake REQUIRED) autoware_package() @@ -7,7 +7,7 @@ autoware_package() find_package(Boost REQUIRED) find_package(autoware_cmake REQUIRED) -ament_auto_add_library(traffic_light_utils SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/traffic_light_utils.cpp ) @@ -16,7 +16,7 @@ if(BUILD_TESTING) file(GLOB_RECURSE TEST_SOURCES test/*.cpp) ament_add_ros_isolated_gtest(test_traffic_light_utils ${TEST_SOURCES}) target_include_directories(test_traffic_light_utils PRIVATE src/include) - target_link_libraries(test_traffic_light_utils traffic_light_utils) + target_link_libraries(test_traffic_light_utils ${PROJECT_NAME}) endif() ament_auto_package() diff --git a/common/traffic_light_utils/README.md b/common/autoware_traffic_light_utils/README.md similarity index 90% rename from common/traffic_light_utils/README.md rename to common/autoware_traffic_light_utils/README.md index 0963a33bc1c4e..d13fddd35f987 100644 --- a/common/traffic_light_utils/README.md +++ b/common/autoware_traffic_light_utils/README.md @@ -1,4 +1,4 @@ -# traffic_light_utils +# autoware_traffic_light_utils ## Purpose diff --git a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp b/common/autoware_traffic_light_utils/include/autoware/traffic_light_utils/traffic_light_utils.hpp similarity index 92% rename from common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp rename to common/autoware_traffic_light_utils/include/autoware/traffic_light_utils/traffic_light_utils.hpp index 3a40c0c3b1d51..bb2500c5d9f63 100644 --- a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp +++ b/common/autoware_traffic_light_utils/include/autoware/traffic_light_utils/traffic_light_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ -#define TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ +#ifndef AUTOWARE__TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ +#define AUTOWARE__TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ #include "autoware_perception_msgs/msg/traffic_light_element.hpp" #include "autoware_perception_msgs/msg/traffic_light_group.hpp" @@ -27,7 +27,7 @@ #include #include -namespace traffic_light_utils +namespace autoware::traffic_light_utils { void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1); @@ -79,6 +79,6 @@ tf2::Vector3 getTrafficLightBottomRight(const lanelet::ConstLineString3d & traff tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_light); -} // namespace traffic_light_utils +} // namespace autoware::traffic_light_utils -#endif // TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ +#endif // AUTOWARE__TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ diff --git a/common/traffic_light_utils/package.xml b/common/autoware_traffic_light_utils/package.xml similarity index 88% rename from common/traffic_light_utils/package.xml rename to common/autoware_traffic_light_utils/package.xml index 82955eb4c82c4..384839d1c91d4 100644 --- a/common/traffic_light_utils/package.xml +++ b/common/autoware_traffic_light_utils/package.xml @@ -1,9 +1,9 @@ - traffic_light_utils + autoware_traffic_light_utils 0.38.0 - The traffic_light_utils package + The autoware_traffic_light_utils package Kotaro Uetake Shunsuke Miura Satoshi Ota diff --git a/common/traffic_light_utils/src/traffic_light_utils.cpp b/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp similarity index 95% rename from common/traffic_light_utils/src/traffic_light_utils.cpp rename to common/autoware_traffic_light_utils/src/traffic_light_utils.cpp index a3da21c1bb578..4ba7e1c1d57d8 100644 --- a/common/traffic_light_utils/src/traffic_light_utils.cpp +++ b/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_utils/traffic_light_utils.hpp" +#include "autoware/traffic_light_utils/traffic_light_utils.hpp" -namespace traffic_light_utils +namespace autoware::traffic_light_utils { void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence) @@ -105,4 +105,4 @@ tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_li return (top_left + bottom_right) / 2; } -} // namespace traffic_light_utils +} // namespace autoware::traffic_light_utils diff --git a/common/traffic_light_utils/test/test_traffic_light_utils.cpp b/common/autoware_traffic_light_utils/test/test_traffic_light_utils.cpp similarity index 93% rename from common/traffic_light_utils/test/test_traffic_light_utils.cpp rename to common/autoware_traffic_light_utils/test/test_traffic_light_utils.cpp index a9e601370945d..856e8b5e9828b 100644 --- a/common/traffic_light_utils/test/test_traffic_light_utils.cpp +++ b/common/autoware_traffic_light_utils/test/test_traffic_light_utils.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/traffic_light_utils/traffic_light_utils.hpp" #include "gtest/gtest.h" -#include "traffic_light_utils/traffic_light_utils.hpp" -namespace traffic_light_utils +namespace autoware::traffic_light_utils { TEST(setSignalUnknown, set_signal_element) @@ -53,4 +53,4 @@ TEST(getTrafficLightCenter, get_signal) EXPECT_FLOAT_EQ(getTrafficLightCenter(test_light).z(), (float)1.5); } -} // namespace traffic_light_utils +} // namespace autoware::traffic_light_utils diff --git a/common/autoware_trajectory/include/autoware/trajectory/detail/interpolated_array.hpp b/common/autoware_trajectory/include/autoware/trajectory/detail/interpolated_array.hpp index 29c3e9961045a..1ab22d94605dc 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/detail/interpolated_array.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/detail/interpolated_array.hpp @@ -194,13 +194,16 @@ class InterpolatedArray * @param x The position to compute the value at. * @return The interpolated value. */ - T compute(const double & x) const { return interpolator_->compute(x); } + [[nodiscard]] T compute(const double & x) const { return interpolator_->compute(x); } /** * @brief Get the underlying data of the array. * @return A pair containing the axis and values. */ - std::pair, std::vector> get_data() const { return {bases_, values_}; } + [[nodiscard]] std::pair, std::vector> get_data() const + { + return {bases_, values_}; + } }; } // namespace autoware::trajectory::detail diff --git a/common/autoware_trajectory/include/autoware/trajectory/detail/utils.hpp b/common/autoware_trajectory/include/autoware/trajectory/detail/utils.hpp index 9a33152a7dfdb..3346d4ce8104f 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/detail/utils.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/detail/utils.hpp @@ -36,7 +36,7 @@ namespace autoware::trajectory::detail */ geometry_msgs::msg::Point to_point(const geometry_msgs::msg::Point & p); geometry_msgs::msg::Point to_point(const geometry_msgs::msg::Pose & p); -geometry_msgs::msg::Point to_point(const Eigen::Ref & p); +geometry_msgs::msg::Point to_point(const Eigen::Vector2d & p); geometry_msgs::msg::Point to_point(const autoware_planning_msgs::msg::PathPoint & p); geometry_msgs::msg::Point to_point(const tier4_planning_msgs::msg::PathPointWithLaneId & p); geometry_msgs::msg::Point to_point(const lanelet::BasicPoint2d & p); diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp index 9ce92e9bd02ea..eeca7775a7ff3 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp @@ -12,10 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -// clang-format off -#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ // NOLINT -#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ // NOLINT -// clang-format on +#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ +#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ #include #include @@ -74,17 +72,33 @@ class InterpolatorCommonInterface * Checks that the interpolator has been built and that the input value is within range. * * @param s The input value. - * @throw std::runtime_error if the interpolator has not been built. + * @return The input value, clamped to the range of the interpolator. */ - void validate_compute_input(const double & s) const + [[nodiscard]] double validate_compute_input(const double & s) const { if (s < start() || s > end()) { RCLCPP_WARN( rclcpp::get_logger("Interpolator"), "Input value %f is outside the range of the interpolator [%f, %f].", s, start(), end()); } + return std::clamp(s, start(), end()); } + /** + * @brief Get the index of the interval containing the input value. + * + * This method determines the index of the interval in the bases array that contains the given + * value. It assumes that the bases array is sorted in ascending order. + * + * If `end_inclusive` is true and the input value matches the end of the bases array, + * the method returns the index of the second-to-last interval. + * + * @param s The input value for which to find the interval index. + * @param end_inclusive Whether to include the end value in the last interval. Defaults to true. + * @return The index of the interval containing the input value. + * + * @throw std::out_of_range if the input value is outside the range of the bases array. + */ [[nodiscard]] int32_t get_index(const double & s, bool end_inclusive = true) const { if (end_inclusive && s == end()) { @@ -96,6 +110,13 @@ class InterpolatorCommonInterface } public: + InterpolatorCommonInterface() = default; + virtual ~InterpolatorCommonInterface() = default; + InterpolatorCommonInterface(const InterpolatorCommonInterface & other) = default; + InterpolatorCommonInterface & operator=(const InterpolatorCommonInterface & other) = default; + InterpolatorCommonInterface(InterpolatorCommonInterface && other) noexcept = default; + InterpolatorCommonInterface & operator=(InterpolatorCommonInterface && other) noexcept = default; + /** * @brief Build the interpolator with the given bases and values. * @@ -132,12 +153,10 @@ class InterpolatorCommonInterface */ [[nodiscard]] T compute(const double & s) const { - validate_compute_input(s); - return compute_impl(s); + double clamped_s = validate_compute_input(s); + return compute_impl(clamped_s); } }; } // namespace autoware::trajectory::interpolator::detail -// clang-format off -#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ // NOLINT -// clang-format on +#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp index a71bdcf0067cf..c9456ecf8a020 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp @@ -12,10 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -// clang-format off -#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ // NOLINT -#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ // NOLINT -// clang-format on +#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ +#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ #include "autoware/trajectory/interpolator/interpolator.hpp" @@ -40,7 +38,7 @@ namespace autoware::trajectory::interpolator::detail template struct InterpolatorMixin : public InterpolatorInterface { - std::shared_ptr> clone() const override + [[nodiscard]] std::shared_ptr> clone() const override { return std::make_shared(static_cast(*this)); } @@ -85,6 +83,4 @@ struct InterpolatorMixin : public InterpolatorInterface } // namespace autoware::trajectory::interpolator::detail -// clang-format off -#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ // NOLINT -// clang-format on +#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/nearest_neighbor_common_impl.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/nearest_neighbor_common_impl.hpp index 94df905ef4815..f02ed5fa8a4c4 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/nearest_neighbor_common_impl.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/nearest_neighbor_common_impl.hpp @@ -12,10 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -// clang-format off -#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ // NOLINT -#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ // NOLINT -// clang-format on +#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ +#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ #include "autoware/trajectory/interpolator/detail/interpolator_mixin.hpp" @@ -80,6 +78,5 @@ class NearestNeighborCommonImpl : public detail::InterpolatorMixin, T> } // namespace detail } // namespace autoware::trajectory::interpolator -// clang-format off -#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__STAIRSTEP_COMMON_IMPL_HPP_ // NOLINT -// clang-format on +#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__STAIRSTEP_COMMON_IMPL_HPP_ diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/interpolator.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/interpolator.hpp index 8503d658a1202..86dbbe8cdbde4 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/interpolator.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/interpolator.hpp @@ -73,8 +73,8 @@ class InterpolatorInterface : public detail::InterpolatorCommonInterface */ [[nodiscard]] double compute_first_derivative(const double & s) const { - this->validate_compute_input(s); - return compute_first_derivative_impl(s); + double clamped_s = this->validate_compute_input(s); + return compute_first_derivative_impl(clamped_s); } /** @@ -85,8 +85,8 @@ class InterpolatorInterface : public detail::InterpolatorCommonInterface */ [[nodiscard]] double compute_second_derivative(const double & s) const { - this->validate_compute_input(s); - return compute_second_derivative_impl(s); + double clamped_s = this->validate_compute_input(s); + return compute_second_derivative_impl(clamped_s); } [[nodiscard]] virtual std::shared_ptr> clone() const = 0; diff --git a/common/autoware_trajectory/include/autoware/trajectory/path_point.hpp b/common/autoware_trajectory/include/autoware/trajectory/path_point.hpp index c14a5b023240d..eb4ffd6f46207 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/path_point.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/path_point.hpp @@ -57,7 +57,7 @@ class Trajectory * @param min_points Minimum number of points * @return Vector of points */ - [[nodiscard]] std::vector restore(const size_t & min_points = 100) const; + [[nodiscard]] std::vector restore(const size_t & min_points = 4) const; class Builder { diff --git a/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp b/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp index 776779396db41..0ed92a10a7ea4 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp @@ -12,10 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -// clang-format off -#ifndef AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ // NOLINT -#define AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ // NOLINT -// clang-format on +#ifndef AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ +#define AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ #include "autoware/trajectory/path_point.hpp" #include "autoware/trajectory/point.hpp" @@ -58,7 +56,7 @@ class Trajectory * @param min_points Minimum number of points * @return Vector of points */ - [[nodiscard]] std::vector restore(const size_t & min_points = 100) const; + [[nodiscard]] std::vector restore(const size_t & min_points = 4) const; class Builder { @@ -149,6 +147,4 @@ class Trajectory }; } // namespace autoware::trajectory -// clang-format off -#endif // AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ // NOLINT -// clang-format on +#endif // AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ diff --git a/common/autoware_trajectory/include/autoware/trajectory/point.hpp b/common/autoware_trajectory/include/autoware/trajectory/point.hpp index cdc5440e62eab..e9d985a85194a 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/point.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/point.hpp @@ -244,7 +244,7 @@ class Trajectory * @param min_points Minimum number of points * @return Vector of points */ - [[nodiscard]] std::vector restore(const size_t & min_points = 100) const; + [[nodiscard]] std::vector restore(const size_t & min_points = 4) const; void crop(const double & start, const double & length); diff --git a/common/autoware_trajectory/include/autoware/trajectory/pose.hpp b/common/autoware_trajectory/include/autoware/trajectory/pose.hpp index 90d84ef0a6a90..8acc7b48dc8e4 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/pose.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/pose.hpp @@ -56,7 +56,7 @@ class Trajectory : public Trajectory restore(const size_t & min_points = 100) const; + [[nodiscard]] std::vector restore(const size_t & min_points = 4) const; /** * @brief Align the orientation with the direction diff --git a/common/autoware_trajectory/src/detail/util.cpp b/common/autoware_trajectory/src/detail/util.cpp index 8cfb8029629cb..4c9649ef1f3ab 100644 --- a/common/autoware_trajectory/src/detail/util.cpp +++ b/common/autoware_trajectory/src/detail/util.cpp @@ -30,7 +30,7 @@ geometry_msgs::msg::Point to_point(const geometry_msgs::msg::Pose & p) return p.position; } -geometry_msgs::msg::Point to_point(const Eigen::Ref & p) +geometry_msgs::msg::Point to_point(const Eigen::Vector2d & p) { geometry_msgs::msg::Point point; point.x = p(0); diff --git a/common/autoware_trajectory/src/path_point_with_lane_id.cpp b/common/autoware_trajectory/src/path_point_with_lane_id.cpp index 9906c577d45c7..6c983c4dfa0d3 100644 --- a/common/autoware_trajectory/src/path_point_with_lane_id.cpp +++ b/common/autoware_trajectory/src/path_point_with_lane_id.cpp @@ -16,6 +16,8 @@ #include "autoware/trajectory/detail/utils.hpp" +#include + namespace autoware::trajectory { diff --git a/common/autoware_trajectory/src/pose.cpp b/common/autoware_trajectory/src/pose.cpp index 14806bb4701ae..35eca81981f89 100644 --- a/common/autoware_trajectory/src/pose.cpp +++ b/common/autoware_trajectory/src/pose.cpp @@ -45,8 +45,8 @@ PointType Trajectory::compute(double s) const { PointType result; result.position = BaseClass::compute(s); - result.orientation = orientation_interpolator_->compute(s); s = clamp(s); + result.orientation = orientation_interpolator_->compute(s); return result; } diff --git a/common/autoware_universe_utils/CHANGELOG.rst b/common/autoware_universe_utils/CHANGELOG.rst index 51755b0d8350d..8d79fbb4f4f2a 100644 --- a/common/autoware_universe_utils/CHANGELOG.rst +++ b/common/autoware_universe_utils/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_universe_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (`#8380 `_) +* feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (`#8380 `_) * feat: add option for updating distance and azimuth value * chore: clean code * chore: remove space @@ -101,18 +101,18 @@ Changelog for package autoware_universe_utils Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(universe_utils): avoid test timeout (`#8993 `_) +* fix(universe_utils): avoid test timeout (`#8993 `_) reduce number of polygons to be generated -* fix(autoware_universe_utils): fix unmatchedSuppression (`#8986 `_) +* fix(autoware_universe_utils): fix unmatchedSuppression (`#8986 `_) fix:unmatchedSuppression -* refactor(universe_utils): eliminate dependence on Boost.Geometry (`#8965 `_) +* refactor(universe_utils): eliminate dependence on Boost.Geometry (`#8965 `_) * add alt::Polygon2d -> Polygon2d conversion function * migrate to alt geometry * invert orientation of linked list * suppress cppcheck unusedFunction error * fix parameter to avoid confusion --------- -* feat(autoware_universe_utils): reduce dependence on Boost.Geometry (`#8592 `_) +* feat(autoware_universe_utils): reduce dependence on Boost.Geometry (`#8592 `_) * add find_farthest() * add simplify() * add envelope() @@ -126,9 +126,9 @@ Changelog for package autoware_universe_utils * Revert "(WIP) add buffer()" This reverts commit 123b0ba85ede5e558431a4336038c14023d1bef1. --------- -* refactor(universe_utils): remove raw pointers from the triangulation function (`#8893 `_) -* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) -* feat(universe_utils): add Triangulation (ear clipping) implementation for 2D concave polygon with/without holes (`#8609 `_) +* refactor(universe_utils): remove raw pointers from the triangulation function (`#8893 `_) +* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) +* feat(universe_utils): add Triangulation (ear clipping) implementation for 2D concave polygon with/without holes (`#8609 `_) * added random_concave_polygon and triangulation * disable some test with GJK * pre-commit fix @@ -143,23 +143,23 @@ Changelog for package autoware_universe_utils * more spellcheck fixes --------- Co-authored-by: Maxime CLEMENT -* refactor(autoware_universe_utils): refactor Boost.Geometry alternatives (`#8594 `_) +* refactor(autoware_universe_utils): refactor Boost.Geometry alternatives (`#8594 `_) * move alternatives to separate files * style(pre-commit): autofix * include missing headers --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_universe_utils): fix unusedFunction (`#8723 `_) +* fix(autoware_universe_utils): fix unusedFunction (`#8723 `_) fix:unusedFunction -* feat(universe_utils): add SAT implementation for 2D convex polygon collision check (`#8239 `_) -* feat(autoware_universe_utils): add thread_id check to time_keeper (`#8628 `_) +* feat(universe_utils): add SAT implementation for 2D convex polygon collision check (`#8239 `_) +* feat(autoware_universe_utils): add thread_id check to time_keeper (`#8628 `_) add thread_id check -* fix(autoware_universe_utils): fix unusedFunction (`#8521 `_) +* fix(autoware_universe_utils): fix unusedFunction (`#8521 `_) fix: unusedFunction -* feat(autoware_universe_utils): add LRU Cache (`#8456 `_) -* fix(autoware_universe_utils): fix memory leak of time_keeper (`#8425 `_) +* feat(autoware_universe_utils): add LRU Cache (`#8456 `_) +* fix(autoware_universe_utils): fix memory leak of time_keeper (`#8425 `_) fix bug of time_keeper -* feat(autoware_universe_utils): reduce dependence on Boost.Geometry (`#7778 `_) +* feat(autoware_universe_utils): reduce dependence on Boost.Geometry (`#7778 `_) * add within function * return nullopt as is * add disjoint function @@ -222,13 +222,13 @@ Changelog for package autoware_universe_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(autoware_universe_utils): fix constParameterReference (`#8145 `_) +* fix(autoware_universe_utils): fix constParameterReference (`#8145 `_) * fix:constParameterReference * fix:clang format * fix:constParameterReference * fix:clang format --------- -* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) +* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) * perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners * fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic * fix(autoware_ground_segmentation): add missing TF listener @@ -238,7 +238,7 @@ Changelog for package autoware_universe_utils * fix(autoware_universe_utils): change checks order * doc(autoware_universe_utils): add docstring --------- -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -247,8 +247,8 @@ Changelog for package autoware_universe_utils Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(universe_utils): add GJK implementation for 2D convex polygon collision check (`#7853 `_) -* feat(autoware_universe_utils): add comment function to time_keeper (`#7991 `_) +* feat(universe_utils): add GJK implementation for 2D convex polygon collision check (`#7853 `_) +* feat(autoware_universe_utils): add comment function to time_keeper (`#7991 `_) * update readme * refactoring * remove string reporter @@ -257,7 +257,7 @@ Changelog for package autoware_universe_utils * remove comment from scoped time track * modify readme --------- -* chore(autoware_universe_utils): update document (`#7907 `_) +* chore(autoware_universe_utils): update document (`#7907 `_) * update readme * refactoring * remove string reporter @@ -265,13 +265,13 @@ Changelog for package autoware_universe_utils * change node name of example * update readme --------- -* fix(autoware_universe_utils): fix constParameterReference (`#7882 `_) +* fix(autoware_universe_utils): fix constParameterReference (`#7882 `_) * fix: constParameterReference * fix: constParameterReference --------- -* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 * Contributors: Amadeusz Szymko, Giovanni Muhammad Raditya, Kosuke Takeuchi, Maxime CLEMENT, Mitsuhiro Sakamoto, Nagi70, Takayuki Murooka, Yi-Hsiang Fang (Vivid), Yukinari Hisaki, Yutaka Kondo, kobayu858 diff --git a/common/autoware_vehicle_info_utils/CHANGELOG.rst b/common/autoware_vehicle_info_utils/CHANGELOG.rst index 7f015a1555983..5ad86eddf9f52 100644 --- a/common/autoware_vehicle_info_utils/CHANGELOG.rst +++ b/common/autoware_vehicle_info_utils/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_vehicle_info_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(vehicle_info): add API description, add owner (`#9151 `_) -* chore(autoware_vehicle_info_utils): move package to common directory (`#8708 `_) +* refactor(vehicle_info): add API description, add owner (`#9151 `_) +* chore(autoware_vehicle_info_utils): move package to common directory (`#8708 `_) * Contributors: Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst b/common/bag_time_manager_rviz_plugin/CHANGELOG.rst index 689d0799a80e5..a47ad569440b4 100644 --- a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst +++ b/common/bag_time_manager_rviz_plugin/CHANGELOG.rst @@ -9,8 +9,8 @@ Changelog for package bag_time_manager_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* build(iron): remove rmw_qos_profile_t (`#3809 `_) -* build: mark autoware_cmake as (`#3616 `_) +* build(iron): remove rmw_qos_profile_t (`#3809 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -18,9 +18,9 @@ Changelog for package bag_time_manager_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(bag_time_manager_rviz_plugin): update create_client API to use rc… (`#2783 `_) +* fix(bag_time_manager_rviz_plugin): update create_client API to use rc… (`#2783 `_) * fix(bag_time_manager_rviz_plugin): update create_client API to use rclcpp::QoS -* feat(bag_time_manager_rviz_plugin): add bag time manager rviz plugin (`#1776 `_) +* feat(bag_time_manager_rviz_plugin): add bag time manager rviz plugin (`#1776 `_) * feat(bag_timemanager): add bag time manager rviz plugin * fix: fix change * Contributors: Daisuke Nishimatsu, Esteve Fernandez, Vincent Richard, taikitanaka3 diff --git a/common/global_parameter_loader/CHANGELOG.rst b/common/global_parameter_loader/CHANGELOG.rst index 64c6e6129795b..ae5dfd0509592 100644 --- a/common/global_parameter_loader/CHANGELOG.rst +++ b/common/global_parameter_loader/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package global_parameter_loader 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -40,10 +40,10 @@ Changelog for package global_parameter_loader * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* revert: feat(global_parameter_loader): add gtest to global parameter loader (`#6872 `_) +* revert: feat(global_parameter_loader): add gtest to global parameter loader (`#6872 `_) Revert "feat(global_parameter_loader): add gtest to global parameter loader (…" This reverts commit dfec62ac277f893fd6276e3c6ffd9c7d4f475225. -* feat(global_parameter_loader): add gtest to global parameter loader (`#5021 `_) +* feat(global_parameter_loader): add gtest to global parameter loader (`#5021 `_) * add remote * feat(global_parameter_loader): add gtest of global-parameter-loader * style(pre-commit): autofix @@ -54,9 +54,9 @@ Changelog for package global_parameter_loader 0.26.0 (2024-04-03) ------------------- -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -64,15 +64,15 @@ Changelog for package global_parameter_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* style: fix format of package.xml (`#844 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/glog_component/CHANGELOG.rst b/common/glog_component/CHANGELOG.rst index 3eff594a40955..b305cfb616e27 100644 --- a/common/glog_component/CHANGELOG.rst +++ b/common/glog_component/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package glog_component 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(glog): add initialization check (`#6792 `_) +* chore(glog): add initialization check (`#6792 `_) * Contributors: Takamasa Horibe, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* feat(glog): add glog in planning and control modules (`#4714 `_) +* feat(glog): add glog in planning and control modules (`#4714 `_) * feat(glog): add glog component * formatting * remove namespace diff --git a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst b/common/tier4_adapi_rviz_plugin/CHANGELOG.rst index 5cd7c5682df4b..b151eb7f7e06d 100644 --- a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_adapi_rviz_plugin/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package tier4_adapi_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(tier4_adapi_rviz_plugin): fix unusedFunction (`#8840 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(tier4_adapi_rviz_plugin): fix unusedFunction (`#8840 `_) fix:unusedFunction -* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) +* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) set timestamp to velocity_limit msg -* feat(tier4_adapi_rviz_plugin): add legacy state panel (`#7494 `_) +* feat(tier4_adapi_rviz_plugin): add legacy state panel (`#7494 `_) * Contributors: Autumn60, Khalil Selyan, Takagi, Isamu, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* feat(default_ad_api): add door api (`#5737 `_) -* feat(tier4_adapi_rviz_plugin): add change button to the route panel (`#6326 `_) +* feat(default_ad_api): add door api (`#5737 `_) +* feat(tier4_adapi_rviz_plugin): add change button to the route panel (`#6326 `_) feat(tier4_adapi_rviz_plugin): add route change button to the route panel -* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) -* style(update): autoware tools icons (`#6351 `_) -* feat(tier4_adapi_rviz_plugin): add route panel (`#3840 `_) +* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) +* style(update): autoware tools icons (`#6351 `_) +* feat(tier4_adapi_rviz_plugin): add route panel (`#3840 `_) * feat: add panel * feat: set route * feat: set waypoints * feat: add readme * fix: copyright --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -35,7 +35,7 @@ Changelog for package tier4_adapi_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(tier4_adapi_rviz_plugin): add adapi rviz plugin (`#3380 `_) +* feat(tier4_adapi_rviz_plugin): add adapi rviz plugin (`#3380 `_) * feat(tier4_adapi_rviz_plugin): add adapi rviz plugin * feat: fix copyright and name --------- diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/common/tier4_adapi_rviz_plugin/package.xml index d7269377829dc..c31e19919ff22 100644 --- a/common/tier4_adapi_rviz_plugin/package.xml +++ b/common/tier4_adapi_rviz_plugin/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_component_interface_utils autoware_vehicle_msgs geometry_msgs diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp b/common/tier4_adapi_rviz_plugin/src/door_panel.hpp index fb7aa0e1b9545..3ace533eada50 100644 --- a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp +++ b/common/tier4_adapi_rviz_plugin/src/door_panel.hpp @@ -18,8 +18,8 @@ #include #include #include +#include #include -#include #include #include @@ -31,9 +31,9 @@ namespace tier4_adapi_rviz_plugins class DoorPanel : public rviz_common::Panel { Q_OBJECT - using DoorCommand = autoware_ad_api::vehicle::DoorCommand; - using DoorLayout = autoware_ad_api::vehicle::DoorLayout; - using DoorStatus = autoware_ad_api::vehicle::DoorStatus; + using DoorCommand = autoware::adapi_specs::vehicle::DoorCommand; + using DoorLayout = autoware::adapi_specs::vehicle::DoorLayout; + using DoorStatus = autoware::adapi_specs::vehicle::DoorStatus; public: explicit DoorPanel(QWidget * parent = nullptr); diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp b/common/tier4_adapi_rviz_plugin/src/route_panel.hpp index d4e7bdf62ea3c..78fda2852d2c2 100644 --- a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp +++ b/common/tier4_adapi_rviz_plugin/src/route_panel.hpp @@ -20,8 +20,8 @@ #include #include #include +#include #include -#include #include #include @@ -35,9 +35,9 @@ namespace tier4_adapi_rviz_plugins class RoutePanel : public rviz_common::Panel { Q_OBJECT - using ClearRoute = autoware_ad_api::routing::ClearRoute; - using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints; - using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints; + using ClearRoute = autoware::adapi_specs::routing::ClearRoute; + using SetRoutePoints = autoware::adapi_specs::routing::SetRoutePoints; + using ChangeRoutePoints = autoware::adapi_specs::routing::ChangeRoutePoints; using PoseStamped = geometry_msgs::msg::PoseStamped; public: diff --git a/common/tier4_api_utils/CHANGELOG.rst b/common/tier4_api_utils/CHANGELOG.rst index 22856d3f82900..3129d35f02c38 100644 --- a/common/tier4_api_utils/CHANGELOG.rst +++ b/common/tier4_api_utils/CHANGELOG.rst @@ -9,16 +9,16 @@ Changelog for package tier4_api_utils 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) -* docs: add readme for interface packages (`#4235 `_) +* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) +* docs: add readme for interface packages (`#4235 `_) add readme for interface packages -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -26,22 +26,22 @@ Changelog for package tier4_api_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: add api maintainers (`#2361 `_) -* refactor(tier4_api_utils): apply clang-tidy (`#1663 `_) -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: add api maintainers (`#2361 `_) +* refactor(tier4_api_utils): apply clang-tidy (`#1663 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: sync files (`#629 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst index e10612bd0db6a..e71a8d02bd47e 100644 --- a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst @@ -5,31 +5,31 @@ Changelog for package tier4_camera_view_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_camera_view_rviz_plugin): fix unmatchedSuppression (`#8918 `_) +* fix(tier4_camera_view_rviz_plugin): fix unmatchedSuppression (`#8918 `_) fix:unmatchedSuppression -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8843 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8843 `_) fix:unusedFunction -* fix(tier4_camera_view_rviz_plugin): fix uninitMemberVar (`#8819 `_) +* fix(tier4_camera_view_rviz_plugin): fix uninitMemberVar (`#8819 `_) * fix:uninitMemberVar * fix:clang format --------- -* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8639 `_) +* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8639 `_) * fix:unusedFunction * fix:clang format * fix:unusedFunction --------- -* fix: replace Ogre deprecated header (`#7606 `_) +* fix: replace Ogre deprecated header (`#7606 `_) Fix Ogre deprecated header Co-authored-by: Kotaro Yoshimoto -* fix(tier4_camera_view_rviz_plugin): fix funcArgNamesDifferent warnings (`#7621 `_) +* fix(tier4_camera_view_rviz_plugin): fix funcArgNamesDifferent warnings (`#7621 `_) * Contributors: Khalil Selyan, Ryuta Kambe, Yutaka Kondo, kobayu858, ぐるぐる 0.26.0 (2024-04-03) ------------------- -* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) -* style(update): autoware tools icons (`#6351 `_) -* feat(camera_view_plugin): add camera view plugin package (`#5472 `_) +* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) +* style(update): autoware tools icons (`#6351 `_) +* feat(camera_view_plugin): add camera view plugin package (`#5472 `_) * add camera view plugin package * add readme for short cut * style(pre-commit): autofix diff --git a/common/tier4_camera_view_rviz_plugin/package.xml b/common/tier4_camera_view_rviz_plugin/package.xml index d36c9eae781c6..7c85d9f84871a 100644 --- a/common/tier4_camera_view_rviz_plugin/package.xml +++ b/common/tier4_camera_view_rviz_plugin/package.xml @@ -11,7 +11,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_component_interface_utils geometry_msgs libqt5-core diff --git a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst b/common/tier4_datetime_rviz_plugin/CHANGELOG.rst index 0f5aa02a6d918..b8341184faaf7 100644 --- a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_datetime_rviz_plugin/CHANGELOG.rst @@ -9,11 +9,11 @@ Changelog for package tier4_datetime_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -21,25 +21,25 @@ Changelog for package tier4_datetime_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: add api maintainers (`#2361 `_) -* refactor(tier4_datetime_rviz_plugin): apply clang-tidy (`#1605 `_) +* chore: add api maintainers (`#2361 `_) +* refactor(tier4_datetime_rviz_plugin): apply clang-tidy (`#1605 `_) * refactor(tier4_datetime_rviz_plugin): apply clang-tidy * refactor: apply readability-identifier-naming -* fix: remove unused check of rviz plugin version (`#1474 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* chore: sync files (`#629 `_) +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_localization_rviz_plugin/CHANGELOG.rst b/common/tier4_localization_rviz_plugin/CHANGELOG.rst index d5c279b2b6d10..2a1f10be1ffed 100644 --- a/common/tier4_localization_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_localization_rviz_plugin/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package tier4_localization_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_localization_rviz_plugin): fix unmatchedSuppression (`#8919 `_) +* fix(tier4_localization_rviz_plugin): fix unmatchedSuppression (`#8919 `_) fix:unmatchedSuppression -* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8848 `_) +* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8848 `_) fix:unusedFunction -* fix(tier4_localization_rviz_plugin): fix constVariableReference (`#8838 `_) +* fix(tier4_localization_rviz_plugin): fix constVariableReference (`#8838 `_) fix:constVariableReference -* fix(tier4_localization_rviz_plugin): fix knownConditionTrueFalse (`#8824 `_) +* fix(tier4_localization_rviz_plugin): fix knownConditionTrueFalse (`#8824 `_) * fix:knownConditionTrueFalse * fix:merge --------- -* refactor(tier4_localization_rviz_plugin): apply static analysis (`#8683 `_) +* refactor(tier4_localization_rviz_plugin): apply static analysis (`#8683 `_) * refactor based on linter * add comment on no lint * mod comment for clarification --------- -* feat(tier4_localization_rviz_plugin): add visualization of pose with covariance history (`#8191 `_) +* feat(tier4_localization_rviz_plugin): add visualization of pose with covariance history (`#8191 `_) * display PoseWithCovariance History * Correct spelling errors and year * Add arrows clear() @@ -30,11 +30,11 @@ Changelog for package tier4_localization_rviz_plugin --------- Co-authored-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8637 `_) +* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8637 `_) fix:unusedFunction -* chore(tier4_localization_rviz_plugin): add maintainer and author (`#8184 `_) +* chore(tier4_localization_rviz_plugin): add maintainer and author (`#8184 `_) add maintainer and author -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -73,16 +73,16 @@ Changelog for package tier4_localization_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -90,23 +90,23 @@ Changelog for package tier4_localization_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_rviz_plugin): add pose history footprint (`#2387 `_) +* feat(tier4_localization_rviz_plugin): add pose history footprint (`#2387 `_) * feat(tier4_localization_rviz_plugin): add pose history footprint * remove unused variables * add maintainer -* chore: add api maintainers (`#2361 `_) -* revert: readability-identifier-naming for pose history (`#1641 `_) +* chore: add api maintainers (`#2361 `_) +* revert: readability-identifier-naming for pose history (`#1641 `_) * revert: readability-identifier-naming for pose history This reverts commit 9278e714bdbd29ca344976e9a2b26fdb93b41370. * Revert "fix: build error" This reverts commit 5e855993250a94494d9a8d05e03097162d4e6e0e. -* refactor(tier4_localization_rviz_plugin): apply clang-tidy (`#1608 `_) +* refactor(tier4_localization_rviz_plugin): apply clang-tidy (`#1608 `_) * refactor(tier4_localization_rviz_plugin): apply clang-tidy * ci(pre-commit): autofix * refactor: add NOLINT @@ -114,25 +114,25 @@ Changelog for package tier4_localization_rviz_plugin * ci(pre-commit): autofix * fix: build error Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_perception_rviz_plugin): apply clang-tidy (`#1624 `_) +* refactor(tier4_perception_rviz_plugin): apply clang-tidy (`#1624 `_) * refactor(tier4_perception_rviz_plugin): apply clang-tidy * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: remove unused check of rviz plugin version (`#1474 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* chore: sync files (`#629 `_) +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_planning_rviz_plugin/CHANGELOG.rst b/common/tier4_planning_rviz_plugin/CHANGELOG.rst index 51dea889a86c0..c31dc946b12d1 100644 --- a/common/tier4_planning_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_planning_rviz_plugin/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package tier4_planning_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(tier4_planning_rviz_plugin): set path colors from rviz and add fade_out feature (`#8972 `_) +* feat(tier4_planning_rviz_plugin): set path colors from rviz and add fade_out feature (`#8972 `_) Co-authored-by: M. Fatih Cırıt -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(tier4_planning_rviz_plugin): fix unusedFunction (`#8616 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(tier4_planning_rviz_plugin): fix unusedFunction (`#8616 `_) fix:unusedFunction -* fix(tier4_planning_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8377 `_) +* fix(tier4_planning_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8377 `_) fix: deal with virtualCallInConstructor warning Co-authored-by: Ryuta Kambe -* fix(tier4_planning_rviz_plugin): fix calculation of drivable area bounds (`#7815 `_) +* fix(tier4_planning_rviz_plugin): fix calculation of drivable area bounds (`#7815 `_) change angle condition -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -55,45 +55,45 @@ Changelog for package tier4_planning_rviz_plugin * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(tier4_planning_rviz_plugin): memory leak (`#7164 `_) +* fix(tier4_planning_rviz_plugin): memory leak (`#7164 `_) fix memory leak * Contributors: Khalil Selyan, Kosuke Takeuchi, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yukihiro Saito, Yutaka Kondo, beyzanurkaya, kobayu858, taisa1 0.26.0 (2024-04-03) ------------------- -* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) -* style(update): autoware tools icons (`#6351 `_) -* fix(tier4_planning_rviz_plugin): move headers to tier4_planning_rviz_plugin directory (`#5927 `_) +* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) +* style(update): autoware tools icons (`#6351 `_) +* fix(tier4_planning_rviz_plugin): move headers to tier4_planning_rviz_plugin directory (`#5927 `_) * fix(tier4_planning_rviz_plugin): move headers to tier4_planning_rviz_plugin directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(planning modules): remove maintainer... (`#5458 `_) +* chore(planning modules): remove maintainer... (`#5458 `_) remove shimizu-san from maintainer and add maintainer for stop line and turn signal decider -* feat(tier4_planning_rviz_plugin): visualize text of slope angle (`#5091 `_) -* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) -* fix(tier4_planning_rviz_plugin): update vehicle info parameters in panel received from global parameter (`#4907 `_) -* fix: max velocity display (`#4203 `_) +* feat(tier4_planning_rviz_plugin): visualize text of slope angle (`#5091 `_) +* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) +* fix(tier4_planning_rviz_plugin): update vehicle info parameters in panel received from global parameter (`#4907 `_) +* fix: max velocity display (`#4203 `_) fix max velocity display Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* fix(tier4_planning_rviz_plugin): fix plugin crash (`#3830 `_) +* fix(tier4_planning_rviz_plugin): fix plugin crash (`#3830 `_) * preVisualizePathFootPrint is the cause * update ogre_node and text_ptr in each iteration --------- -* fix(tier4_planning_rviz_plugin): fix drivable area width (`#3689 `_) +* fix(tier4_planning_rviz_plugin): fix drivable area width (`#3689 `_) * fix(tier4_planning_rviz_plugin): fix drivable area width * fix --------- -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -101,53 +101,53 @@ Changelog for package tier4_planning_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(tier4_planning_rviz_plugin): suppress warning (`#3578 `_) -* feat(tier4_planning_rviz_plugin): remove z offset from the bound (`#3551 `_) -* feat(tier4_planning_rviz_plugin): update path width by global parameters (`#3504 `_) +* fix(tier4_planning_rviz_plugin): suppress warning (`#3578 `_) +* feat(tier4_planning_rviz_plugin): remove z offset from the bound (`#3551 `_) +* feat(tier4_planning_rviz_plugin): update path width by global parameters (`#3504 `_) * fix(tier4_planning_rviz_plugin): update vehicle info by global parameters * feat(tier4_planning_rviz_plugin): update path width by global parameters --------- -* fix(tier4_planning_rviz_plugin): update vehicle info by global parameters (`#3503 `_) +* fix(tier4_planning_rviz_plugin): update vehicle info by global parameters (`#3503 `_) * fix(tier4_planning_rviz_plugin): update vehicle info by global parameters * fix --------- -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning_rviz_plugin): supress initial warning message (`#2960 `_) +* fix(tier4_planning_rviz_plugin): supress initial warning message (`#2960 `_) fix(tier4_planning_rviz_plugin): remove initial warning message -* fix(tier4_rviz_planning_plugin): clear objects before return (`#2995 `_) +* fix(tier4_rviz_planning_plugin): clear objects before return (`#2995 `_) * fix(tier4_rviz_planning_plugin): clear objects before return * update --------- -* feat(tier4_planning_rviz_plugin): add maintainer (`#2996 `_) -* feat(tier4_planning_rviz_plugin): move footprint plugin to path (`#2971 `_) +* feat(tier4_planning_rviz_plugin): add maintainer (`#2996 `_) +* feat(tier4_planning_rviz_plugin): move footprint plugin to path (`#2971 `_) * feat(tier4_rviz_plugin): simplify tier4_planning_rviz_plugin * update --------- -* feat(tier4_planning_rviz_plugin): add drivable area plugin (`#2868 `_) +* feat(tier4_planning_rviz_plugin): add drivable area plugin (`#2868 `_) * feat(tier4_planning_rviz_plugin): add drivable area plugin * change default size and color * update * add drivable area to path * update --------- -* feat(tier4_autoware_utils): remove drivable area plugin (`#2876 `_) -* refactor(tier4_planning_rviz_plugin): clean up the code of path (`#2871 `_) +* feat(tier4_autoware_utils): remove drivable area plugin (`#2876 `_) +* refactor(tier4_planning_rviz_plugin): clean up the code of path (`#2871 `_) * refactor(tier4_planning_rviz_plugin): clean up the code of path * fix --------- -* refactor(tier4_planning_rviz_plugin): create abstract class for footprint (`#2870 `_) +* refactor(tier4_planning_rviz_plugin): create abstract class for footprint (`#2870 `_) * refactor(tier4_planning_rviz_plugin): create abstract class for footprint * fix * fix * fix * fix --------- -* feat(tier4_planning_rviz_plugin): visualize pose_with_uuid_stamped (`#2662 `_) +* feat(tier4_planning_rviz_plugin): visualize pose_with_uuid_stamped (`#2662 `_) * feat(tier4_planning_rviz_plugin): visualize pose_stamped_with_uuid * Update common/tier4_planning_rviz_plugin/include/pose_stamped_with_uuid/display.hpp Co-authored-by: Yukihiro Saito @@ -157,7 +157,7 @@ Changelog for package tier4_planning_rviz_plugin * add icon * change default size Co-authored-by: Yukihiro Saito -* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) +* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -178,68 +178,68 @@ Changelog for package tier4_planning_rviz_plugin * fix some codes * change to makerker array * change avoidance utils -* feat(tier4_planning_rviz_plugin): add offset from baselink param (`#2384 `_) -* fix(tier4_planning_rviz_plugin): correct velocity text (`#2179 `_) -* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) +* feat(tier4_planning_rviz_plugin): add offset from baselink param (`#2384 `_) +* fix(tier4_planning_rviz_plugin): correct velocity text (`#2179 `_) +* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) * fix(tier4_planning/vehicle_rviz_plugin): fixed license * fix build error -* feat(tier4_planning_rviz_plugin): add owner (`#1953 `_) -* refactor(tier4_planning_rviz_plugin): apply clang-tidy for path (`#1637 `_) -* feat(tier4_planning_rviz_plugin): add velocity_text to path_with_lane_id (`#1735 `_) +* feat(tier4_planning_rviz_plugin): add owner (`#1953 `_) +* refactor(tier4_planning_rviz_plugin): apply clang-tidy for path (`#1637 `_) +* feat(tier4_planning_rviz_plugin): add velocity_text to path_with_lane_id (`#1735 `_) * feat(tier4_planning_rviz_plugin): add velocity_text to path_with_lane_id * fix pre-commit -* refactor(tier4_planning_rviz_plugin): apply clang-tidy for mission_checkpoint (`#1634 `_) +* refactor(tier4_planning_rviz_plugin): apply clang-tidy for mission_checkpoint (`#1634 `_) refactor(tier4_planning_rviz_plugin): apply clang-tidy for mission_checkpoint -* refactor(tier4_planning_rviz_plugin): apply clang-tidy for drivable_area (`#1625 `_) -* fix: remove unused check of rviz plugin version (`#1474 `_) -* fix(tier4_planning_rviz_plugin): fix initialize planning_rviz_plugin (`#1387 `_) +* refactor(tier4_planning_rviz_plugin): apply clang-tidy for drivable_area (`#1625 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* fix(tier4_planning_rviz_plugin): fix initialize planning_rviz_plugin (`#1387 `_) * fix(tier4_planning_rviz_plugin): fix initialize planning_rviz_plugin * ci(pre-commit): autofix * remove comment out Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning_rviz_plugin): support backward driving in path/traj plugin (`#1335 `_) +* fix(tier4_planning_rviz_plugin): support backward driving in path/traj plugin (`#1335 `_) * fix(tier4_planning_rviz_plugin): support backward driving in path_with_lane_id/path/trajectory plugin * add utils.hpp -* feat: view LaneId on PathWithLaneIdFootprint plugin (`#984 `_) +* feat: view LaneId on PathWithLaneIdFootprint plugin (`#984 `_) * feat: view LaneId on PathWithLaneIdFootprint plugin * ci(pre-commit): autofix * fix: add utility * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) -* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) +* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) +* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) * feat(tier4_planning/vehicle_plugin): make plugins size scalable * remove space * scaling -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(tier4_planning_rviz_plugins): modify build error in rolling (`#808 `_) -* feat(tier4_planning_rviz_plugins): add vehicle_info to *FootprintDisplay (`#712 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(tier4_planning_rviz_plugins): modify build error in rolling (`#808 `_) +* feat(tier4_planning_rviz_plugins): add vehicle_info to *FootprintDisplay (`#712 `_) * feat(tier4_planning_rviz_plugins): add vehicle_info to PathFootprintDisplay * add vehicle_info to other footprint displays * fix the scope of local variables Co-authored-by: Takayuki Murooka -* chore: sync files (`#629 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin (`#594 `_) +* feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin (`#594 `_) * feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_planning_rviz_plugin): add PathWithLaneId icon (`#593 `_) -* feat(tier4_planning_rviz_plugin): add PathWithLaneId rviz plugin (`#591 `_) - * sync rc rc/v1.7.1 (`#2345 `_) - * add behavior_path_rviz_plugin (`#2343 `_) +* chore(tier4_planning_rviz_plugin): add PathWithLaneId icon (`#593 `_) +* feat(tier4_planning_rviz_plugin): add PathWithLaneId rviz plugin (`#591 `_) + * sync rc rc/v1.7.1 (`#2345 `_) + * add behavior_path_rviz_plugin (`#2343 `_) * add behavior_path_rviz_plugin * edit README * fix for uncrustify @@ -258,14 +258,14 @@ Changelog for package tier4_planning_rviz_plugin Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add drivable area visualizer (`#779 `_) (`#193 `_) +* feat: add drivable area visualizer (`#779 `_) (`#193 `_) * add drivable area visualizer * add license * modify pointed out in pre-commit * modify pointed out in pre-commit Co-authored-by: Yukihiro Saito -* fix: fix typo plannnig -> planning (`#195 `_) -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* fix: fix typo plannnig -> planning (`#195 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_state_rviz_plugin/CHANGELOG.rst b/common/tier4_state_rviz_plugin/CHANGELOG.rst index 4ea0f5cc6557e..962433de64c70 100644 --- a/common/tier4_state_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_state_rviz_plugin/CHANGELOG.rst @@ -5,26 +5,26 @@ Changelog for package tier4_state_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8921 `_) +* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8921 `_) fix:unmatchedSuppression -* style: update state panel plugin (`#8846 `_) -* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8841 `_) +* style: update state panel plugin (`#8846 `_) +* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8841 `_) fix:unusedFunction -* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8845 `_) +* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8845 `_) * fix:unusedFunction * fix:unusedFunction * fix:revert --------- -* fix(tier4_state_rviz_plugin): fix constVariablePointer (`#8832 `_) +* fix(tier4_state_rviz_plugin): fix constVariablePointer (`#8832 `_) fix:constVariablePointer -* fix(tier4_state_rviz_plugin): fix shadowVariable (`#8831 `_) +* fix(tier4_state_rviz_plugin): fix shadowVariable (`#8831 `_) * fix:shadowVariable * fix:clang-format --------- -* refactor(custom_button): improve drop shadow effect (`#8781 `_) -* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8658 `_) +* refactor(custom_button): improve drop shadow effect (`#8781 `_) +* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8658 `_) fix:unmatchedSuppression -* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8608 `_) +* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8608 `_) * fix:unusedFunction * fix:clang format * fix:revert custom button @@ -39,35 +39,35 @@ Changelog for package tier4_state_rviz_plugin * fix:revert custom botton item * fix:remove declaration --------- -* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) +* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) set timestamp to velocity_limit msg -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: update autoware state panel (`#7036 `_) +* feat: update autoware state panel (`#7036 `_) * Contributors: Autumn60, Khalil Selyan, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* feat: add pull over to autoware_state_panel of rviz (`#6540 `_) -* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) -* feat!: remove planning factor type (`#5793 `_) +* feat: add pull over to autoware_state_panel of rviz (`#6540 `_) +* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) +* feat!: remove planning factor type (`#5793 `_) remove planning factor type Co-authored-by: Hiroki OTA -* feat: change planning factor behavior constants (`#5590 `_) +* feat: change planning factor behavior constants (`#5590 `_) * replace module type * support compatibility --------- Co-authored-by: Hiroki OTA -* feat(tier4_state_rviz_plugin): add init by gnss button (`#4392 `_) -* fix(tier4_state_rviz_plugin): add NEUTRAL on GEAR (`#3132 `_) +* feat(tier4_state_rviz_plugin): add init by gnss button (`#4392 `_) +* fix(tier4_state_rviz_plugin): add NEUTRAL on GEAR (`#3132 `_) fix(tier4_state_rviz_plugin): fix bug https://github.com/autowarefoundation/autoware.universe/issues/3121 -* refactor(start_planner): rename pull out to start planner (`#3908 `_) -* build(iron): remove rmw_qos_profile_t (`#3809 `_) -* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* build(iron): remove rmw_qos_profile_t (`#3809 `_) +* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) fix(rviz_plugin); fx traffic light and velocity factor rviz plugin -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -75,17 +75,17 @@ Changelog for package tier4_state_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) -* chore: sync files (`#3227 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_state_panel): change variable for fail safe behavior (`#2952 `_) +* fix(autoware_state_panel): change variable for fail safe behavior (`#2952 `_) fix fail safe behavior value -* fix(tier4_state_rviz_plugin): fix typo (`#2988 `_) -* fix(tier4_state_rviz_plugin): split into two panels (`#2914 `_) +* fix(tier4_state_rviz_plugin): fix typo (`#2988 `_) +* fix(tier4_state_rviz_plugin): split into two panels (`#2914 `_) * fix(tier4_state_rviz_plugin): split into two panels * feat: add image * style(pre-commit): autofix @@ -100,16 +100,16 @@ Changelog for package tier4_state_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_state_rviz_plugin): add planning API visualization (`#2632 `_) +* feat(tier4_state_rviz_plugin): add planning API visualization (`#2632 `_) feat(tier4_state_rviz_plugin): add Planning Visualization Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_state_rviz_plugin): add Fail Safe Visualization (`#2626 `_) +* feat(tier4_state_rviz_plugin): add Fail Safe Visualization (`#2626 `_) * feat(tier4_state_rviz_plugin): add information for Fail Safe * fix color * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs(tier4_state_rviz_plugin): update readme (`#2475 `_) -* feat(tier4_state_rviz_plugin): add API monitoring for Routing, Localization and Motion (`#2436 `_) +* docs(tier4_state_rviz_plugin): update readme (`#2475 `_) +* feat(tier4_state_rviz_plugin): add API monitoring for Routing, Localization and Motion (`#2436 `_) * feat: add viz for routing API * feat: add motion and localiation * some refactoring @@ -122,7 +122,7 @@ Changelog for package tier4_state_rviz_plugin * ci(pre-commit): autofix Co-authored-by: Takagi, Isamu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_state_rviz_plugin): use ADAPI v1 instead of old API (`#2433 `_) +* feat(tier4_state_rviz_plugin): use ADAPI v1 instead of old API (`#2433 `_) * fix: delete path change approval * make operation and control mode layout * add nullptr @@ -132,15 +132,15 @@ Changelog for package tier4_state_rviz_plugin * feat: add TRANSITION * fix comment * delete unused -* chore(tier4_state_rviz_plugin): add maintainer (`#2435 `_) -* revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_) (`#1617 `_) - revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_)" +* chore(tier4_state_rviz_plugin): add maintainer (`#2435 `_) +* revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_) (`#1617 `_) + revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_)" This reverts commit 57720204fd401a59b5dffd12d5b8958e5ae2a5af. -* refactor(tier4_state_rviz_plugin): apply clang-tidy for readability-identifier-naming (`#1595 `_) +* refactor(tier4_state_rviz_plugin): apply clang-tidy for readability-identifier-naming (`#1595 `_) * refactor(tier4_state_rviz_plugin): apply clang-tidy for readability-identifier-naming * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_state_rviz_plugin): apply clang-tidy (`#1589 `_) +* refactor(tier4_state_rviz_plugin): apply clang-tidy (`#1589 `_) * fix: clang-tidy for tier4_state_rviz_plugin * ci(pre-commit): autofix * Update common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -154,47 +154,47 @@ Changelog for package tier4_state_rviz_plugin * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* fix: remove unused check of rviz plugin version (`#1474 `_) -* fix(tier4_state_rviz_plugin): qos (`#1085 `_) -* feat(tier4_state_rviz_plugin): add emergency button (`#1048 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* fix(tier4_state_rviz_plugin): qos (`#1085 `_) +* feat(tier4_state_rviz_plugin): add emergency button (`#1048 `_) * feat(tier4_state_rviz_plugin):add emergency button * ci(pre-commit): autofix * chore: add default button name Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* revert: engage button action in autoware_state_panel (`#1079 `_) - * Revert "fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_)" +* revert: engage button action in autoware_state_panel (`#1079 `_) + * Revert "fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_)" This reverts commit 49cc906418b15994b7facb881f3c133a9d8eb3a1. - * Revert "fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_)" + * Revert "fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_)" This reverts commit 15f43bc7063809d38c369e405a82d9666826c052. -* feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) +* feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: sync files (`#629 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_) -* feat: add selector mode and disengage function (`#781 `_) (`#194 `_) +* fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_) +* feat: add selector mode and disengage function (`#781 `_) (`#194 `_) Co-authored-by: Hiroki OTA Co-authored-by: Tomoya Kimura -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp index 90ad18fe5af6c..b7ea26e2c6895 100644 --- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp @@ -104,8 +104,15 @@ void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray:: velocity_factors_table_->clearContents(); velocity_factors_table_->setRowCount(msg->factors.size()); - for (std::size_t i = 0; i < msg->factors.size(); i++) { - const auto & e = msg->factors.at(i); + auto sorted = *msg; + + // sort by distance to the decel/stop point. + std::sort(sorted.factors.begin(), sorted.factors.end(), [](const auto & a, const auto & b) { + return a.distance < b.distance; + }); + + for (std::size_t i = 0; i < sorted.factors.size(); i++) { + const auto & e = sorted.factors.at(i); // behavior { @@ -157,8 +164,15 @@ void VelocitySteeringFactorsPanel::onSteeringFactors(const SteeringFactorArray:: steering_factors_table_->clearContents(); steering_factors_table_->setRowCount(msg->factors.size()); - for (std::size_t i = 0; i < msg->factors.size(); i++) { - const auto & e = msg->factors.at(i); + auto sorted = *msg; + + // sort by distance to the point where it starts moving the steering. + std::sort(sorted.factors.begin(), sorted.factors.end(), [](const auto & a, const auto & b) { + return a.distance.front() < b.distance.front(); + }); + + for (std::size_t i = 0; i < sorted.factors.size(); i++) { + const auto & e = sorted.factors.at(i); // behavior { diff --git a/common/tier4_system_rviz_plugin/CHANGELOG.rst b/common/tier4_system_rviz_plugin/CHANGELOG.rst index 846fa5cd3fa14..92178542034c4 100644 --- a/common/tier4_system_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_system_rviz_plugin/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package tier4_system_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(system_error_monitor): remove system error monitor (`#8929 `_) +* feat(system_error_monitor): remove system error monitor (`#8929 `_) * feat: delete-system-error-monitor-from-autoware * feat: remove unnecessary params --------- -* fix(tier4_system_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8378 `_) +* fix(tier4_system_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8378 `_) fix: deal with virtualCallInConstructor warning Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -22,7 +22,7 @@ Changelog for package tier4_system_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* feat(tier4_system_rviz_plugin): improve visualization results and logics (`#5222 `_) +* feat(tier4_system_rviz_plugin): improve visualization results and logics (`#5222 `_) * Add Init Localization and Init Planning Check; Add error list check * style(pre-commit): autofix * int casting problem updated @@ -39,8 +39,8 @@ Changelog for package tier4_system_rviz_plugin --------- Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) -* feat(tier4_system_rviz_plugin): add package (`#4945 `_) +* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) +* feat(tier4_system_rviz_plugin): add package (`#4945 `_) * feat(tier4_system_rviz_plugin): add package * update maintainer * style(pre-commit): autofix diff --git a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst index 5a746ad778af4..b367a66d0357d 100644 --- a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package tier4_traffic_light_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -14,7 +14,7 @@ Changelog for package tier4_traffic_light_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) +* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) * feat(behavior_velocity): support new traffic signal interface * style(pre-commit): autofix * add missing dependency @@ -31,9 +31,9 @@ Changelog for package tier4_traffic_light_rviz_plugin * add debug log when the signal data is outdated --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) +* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) fix(rviz_plugin); fx traffic light and velocity factor rviz plugin -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -41,21 +41,21 @@ Changelog for package tier4_traffic_light_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* refactor(tier4_traffic_light_rviz_plugin): apply clang-tidy (`#1650 `_) -* fix: remove unused check of rviz plugin version (`#1474 `_) -* feat(traffic-light-rviz-panel): select traffic light ID from Combobox (`#1010 `_) +* refactor(tier4_traffic_light_rviz_plugin): apply clang-tidy (`#1650 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* feat(traffic-light-rviz-panel): select traffic light ID from Combobox (`#1010 `_) * feat(traffic-light-rviz-panel): (1) select traffic light ID instead of inputting its value (2) added a workaround for tinyxml2::tinyxml2 for humble build (3) updated README and fixed mkdocs.yaml to upload .gif file to unvierse documentation (4)sort traffic light IDs, use scrollable box -* docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat(tier4_traffic_light_rviz_plugin): selectable light shape, status and confidence (`#663 `_) -* feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel (`#640 `_) +* style: fix format of package.xml (`#844 `_) +* feat(tier4_traffic_light_rviz_plugin): selectable light shape, status and confidence (`#663 `_) +* feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel (`#640 `_) * feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel * fix(tier4_traffic_light_rviz_plugin): fix behavior * fix: lisense description diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp index 2165587493a7a..c4104584f3f3b 100644 --- a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp +++ b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp @@ -364,7 +364,7 @@ void TrafficLightPublishPanel::onTimer() void TrafficLightPublishPanel::onVectorMap(const LaneletMapBin::ConstSharedPtr msg) { if (received_vector_map_) return; - // NOTE: examples from map_loader/lanelet2_map_visualization_node.cpp + // NOTE: examples from autoware_lanelet2_map_visualizer/lanelet2_map_visualization_node.cpp lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap); lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map); lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map); diff --git a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst index 85e3e9b8f184a..b02695f6f8e17 100644 --- a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package tier4_vehicle_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_vehicle_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8379 `_) +* fix(tier4_vehicle_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8379 `_) fix: deal with virtualCallInConstructor warning Co-authored-by: Ryuta Kambe -* fix: replace Ogre deprecated header (`#7606 `_) +* fix: replace Ogre deprecated header (`#7606 `_) Fix Ogre deprecated header Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -22,14 +22,14 @@ Changelog for package tier4_vehicle_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) -* chore(build): remove tier4_autoware_utils.hpp in common/ (`#4828 `_) +* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) +* chore(build): remove tier4_autoware_utils.hpp in common/ (`#4828 `_) removed tier4_autoware_utils.hpp in common/ -* chore: do not display steer and velocity value when message is not subscribed yet (`#4739 `_) +* chore: do not display steer and velocity value when message is not subscribed yet (`#4739 `_) * chore: do not display steer and velocity value when message is not subscribed yet * chore: change msgs --------- -* feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz (`#4506 `_) +* feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz (`#4506 `_) * feat: add acceleration visualization plugin to RVIZ * feat: add RVIZ plugin for acceleration; remove limit text; debugging: property_label_scale\_ not responding * style(pre-commit): autofix @@ -40,7 +40,7 @@ Changelog for package tier4_vehicle_rviz_plugin --------- Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -48,34 +48,34 @@ Changelog for package tier4_vehicle_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) +* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) * fix(tier4_planning/vehicle_rviz_plugin): fixed license * fix build error -* fix: remove unused check of rviz plugin version (`#1474 `_) -* fix(tier4_vehicle_rviz_plugin): initialization vehicle rivz plugin (`#1379 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* fix(tier4_vehicle_rviz_plugin): initialization vehicle rivz plugin (`#1379 `_) * fix(tier4_vehicle_rviz_plugin): initialization vehicle rviz plugin * initialize signal_type -* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) +* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) * feat(tier4_planning/vehicle_plugin): make plugins size scalable * remove space * scaling -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) * fix(tier4_autoware_utils): modify build error in rolling * fix(lanelet2_extension): add target compile definition for geometry2 * fix(ekf_localizer): add target compile definition for geometry2 @@ -113,7 +113,7 @@ Changelog for package tier4_vehicle_rviz_plugin * fix(planning_error_monitor): add target compile definition for geometry2 * fix(planning_evaluator): add target compile definition for geometry2 * fix(lidar_centerpoint): add target compile definition for geometry2 -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/traffic_light_recognition_marker_publisher/CHANGELOG.rst index da1e3e772d1ad..d4f17b0feea0e 100644 --- a/common/traffic_light_recognition_marker_publisher/CHANGELOG.rst +++ b/common/traffic_light_recognition_marker_publisher/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package traffic_light_recognition_marker_publisher 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* docs(common): adding .pages file (`#7148 `_) +* docs(common): adding .pages file (`#7148 `_) * docs(common): adding .pages file * fix naming * fix naming @@ -25,7 +25,7 @@ Changelog for package traffic_light_recognition_marker_publisher 0.26.0 (2024-04-03) ------------------- -* feat: add visualization node of traffic light recognition result (`#4099 `_) +* feat: add visualization node of traffic light recognition result (`#4099 `_) * feat: add visualization node of traffic light recognition result * docs: update readme * chore: change image diff --git a/common/tvm_utility/.gitignore b/common/tvm_utility/.gitignore deleted file mode 100644 index e69de29bb2d1d..0000000000000 diff --git a/common/tvm_utility/CHANGELOG.rst b/common/tvm_utility/CHANGELOG.rst deleted file mode 100644 index f0838352ec660..0000000000000 --- a/common/tvm_utility/CHANGELOG.rst +++ /dev/null @@ -1,146 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package tvm_utility -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* fix(tvm_utility): add virtual destructor to tvm_utility (`#7759 `_) - * fix(tvm_utility): add virtual destructor to tvm_utility - * add override - --------- -* fix(tvm_utility): fix selfAssignment warnings (`#7561 `_) -* fix(tvm_utility): fix warning of negativeContainerIndex (`#6924 `_) -* Contributors: Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo - -0.26.0 (2024-04-03) -------------------- -* build(tvm_utility): remove download logic from CMake and update documentation (`#4923 `_) - * add include tier4_autoware_utils and dependency - * remove downloading logic from Cmake, update documentation - * build(tvm_utility): remove downloading logic from Cmake, update documentation - * style(pre-commit): autofix - * build(tvm_utility): fix lint_cmake error - * build(tvm_utility): format warning message - * build(tvm_utility): add logic to work with autoware_data folder, add nn config header and test image - * style(pre-commit): autofix - * style(pre-commit): autofix - * build(tvm_utility): refactor, update InferenceEngineTVM constructor - * style(pre-commit): autofix - * build(tvm_utility): add lightweight model and test with it - * build(tvm_utility): make building yolo_v2_tiny disable by default - * build(tvm_utility): remove test artifact for yolo_v2_tiny - * build(tvm_utility): update docs - * build(tvm_utility): update docs - * style(pre-commit): autofix - * build(tvm_utility): update namespace in abs_model test - * build(tvm_utility): rewrite yolo_v2_tiny as example - * build(tvm_utility): clean comments in yolo_v2_tiny example main.cpp - * build(tvm_utility): add launch file for yolo_v2_tiny example - * build(tvm_utility): update yolo_v2_tiny example readme - * style(pre-commit): autofix - * build(tvm_utility): add model for arm based systems, need to be tested on device - * style(pre-commit): autofix - * style(pre-commit): autofix - * build(tvm_utility): update config header for arm - * style(pre-commit): autofix - * build(tvm_utility): remove debug output - * build(tvm_utility): add find_package conditional section - * build(tvm_utility): fix lint_cmake errors - * build(tvm_utility): remove coping model files during build - * build(tvm_utility): update readme with new data folder structure - * build(tvm_utility): fix spell check warnings - * style(pre-commit): autofix - * build(tvm_utility): add no model files guard to get_neural_network - * style(pre-commit): autofix - * build(tvm_utility): set back default paths in config headers - * build(tvm_utility): add param file, update launch file - * build(tvm_utility): add schema file, update node name - * style(pre-commit): autofix - * build(tvm_utility): fix json-schema-check - * build(tvm_utility): fix json-schema-check - * style(pre-commit): autofix - * build(tvm_utility): add parameter table to example readme - * build(tvm_utility): fix typo-error in description of schema.json - * style(pre-commit): autofix - * buiild(tvm_utility): fix spell-check warning and typo - --------- - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor: fix spell-check (`#4289 `_) - * refactor: fix spell-check - * fix spell-check - * fix typo - * Fix obvious typo, shortened words - * Fix obvious typo, shortened words, in common directory - * add cspell ignore - * Update perception/tensorrt_classifier/CMakeLists.txt - Co-authored-by: Yusuke Muramatsu - --------- - Co-authored-by: Yusuke Muramatsu -* build: mark autoware_cmake as (`#3616 `_) - * build: mark autoware_cmake as - with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) - * style(pre-commit): autofix - * chore: fix pre-commit errors - --------- - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - Co-authored-by: Kenji Miyake -* refactor(lidar_apollo_segmentation_tvm/_nodes): remove autoware_auto_common dependency (`#3136 `_) -* docs: comply with mkdocs style (`#3378 `_) - refactor(doc): comply with mkdocs style - Change from the Autoware.Auto style of package documentation to one that - gets parsed better by the current way of generating the documentation. - Issue-Id: SCM-5887 - Change-Id: I898d00eda921ac73373067036c582a7bbc192cce - Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> -* feat(tvm_utility, lidar_centerpoint_tvm): tvm pipeline extension (`#2468 `_) - * add scatter - * two stage pipeline - * ci(pre-commit): autofix - * fix build - * ci(pre-commit): autofix - * remove unecessary code - * apply changes from network_node refactor - * ci(pre-commit): autofix - * unpack tar file first and add maintainer - * fix pre commit error - * remove comment - * fix cmake download, remove scatter cpp and rename tvm function - * ci(pre-commit): autofix - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tvm_utility): redefine network node and inference config (`#2467 `_) - * redefine network node and inference config - * accomondate network node changes - * ci(pre-commit): autofix - * revert device type and id - * cmake setting - * data type and modelzoo version - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tvm_utility): copy test result to CPU (`#2414 `_) - Also remove dependency to autoware_auto_common. - Issue-Id: SCM-5401 - Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d - Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> -* fix(lidar_apollo_segmentation_tvm, tvm_utility): fixed output dim and pipeline (`#2185 `_) -* feat(ModelZoo): model descriptors versioning (`#2158 `_) - Introduce a version field to the interface. - Make use of it in the lidar_apollo_segmentation_tvm packages and the - yolo_v2 example of tvm_utility. - Issue-Id: SCM-4000 - Change-Id: I6d666f886b0a9f01128bfa4cf30e189d23f3481e - Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> -* feat(ModelZoo): rework prebuilt assets management (`#1880 `_) - ModelZoo artifacts changed from a single archive to one archive per - model/backend combination. It allows users to only download needed - archives, but prevents keeping the current design. - Change from all models being handled by the "neural_networks_provider" - package to models being downloaded by packages that need them. - Leverage the newly added versioning of the prebuilt models. - Fix the NN check of the "nodes" package. - Issue-Id: SCM-3999 - Change-Id: I1df9007f5bf446a8b50e38c4fd98e9e3a8d2550f - Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> -* docs(tvm_utility): fix broken link (`#1670 `_) -* feat(tvm_utility): port tvm_utility (`#893 `_) - Co-authored-by: Luca Foschiani -* Contributors: Alexey Panferov, Ambroise Vincent, Kenji Miyake, Luca Foschiani, M. Fatih Cırıt, Shunsuke Miura, Vincent Richard, Xinyu Wang diff --git a/common/tvm_utility/CMakeLists.txt b/common/tvm_utility/CMakeLists.txt deleted file mode 100644 index c0a0d7385f615..0000000000000 --- a/common/tvm_utility/CMakeLists.txt +++ /dev/null @@ -1,151 +0,0 @@ -# Copyright 2021-2022 Arm Limited and Contributors. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -#    http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -cmake_minimum_required(VERSION 3.14) -project(tvm_utility) - -include("${PROJECT_NAME}-extras.cmake") - -find_package(autoware_cmake REQUIRED) -autoware_package() - -# Library - -set(TVM_UTILITY_NODE_LIB_HEADERS - "include/${PROJECT_NAME}/pipeline.hpp" -) - -ament_auto_add_library(${PROJECT_NAME} SHARED ${TVM_UTILITY_NODE_LIB_HEADERS}) -set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX) - -set(BUILD_EXAMPLE OFF CACHE BOOL "enable build yolo_v2_tiny") - -if(BUILD_TESTING OR BUILD_EXAMPLE) - find_package(OpenCV REQUIRED) - set(tvm_runtime_DIR ${tvm_vendor_DIR}) - find_package(tvm_runtime CONFIG REQUIRED) - # Get target backend - set(${PROJECT_NAME}_BACKEND llvm CACHE STRING "${PROJECT_NAME} neural network backend") -endif() - -if(BUILD_TESTING) - # compile each folder inside test/ as a test case - find_package(ament_cmake_gtest REQUIRED) - - set(TEST_ARTIFACTS "${CMAKE_CURRENT_LIST_DIR}/artifacts") - file(GLOB TEST_CASES test/*) - foreach(TEST_FOLDER ${TEST_CASES}) - if(NOT IS_DIRECTORY ${TEST_FOLDER}) - continue() - endif() - # the folder name becomes the test case name - file(RELATIVE_PATH TEST_CASE_NAME ${CMAKE_CURRENT_LIST_DIR}/test ${TEST_FOLDER}) - # Get neural network. - set(NN_DEPENDENCY "") - get_neural_network(${TEST_CASE_NAME}_${CMAKE_SYSTEM_PROCESSOR} ${${PROJECT_NAME}_BACKEND} NN_DEPENDENCY) - - if(NOT NN_DEPENDENCY STREQUAL "") - # add all cpp files in the folder to the target - file(GLOB TEST_CASE_SOURCES ${TEST_FOLDER}/*.cpp) - ament_add_gtest(${TEST_CASE_NAME} ${TEST_CASE_SOURCES}) - ament_target_dependencies(${TEST_CASE_NAME} - "ament_index_cpp" - "tvm_vendor" - ) - add_dependencies(${TEST_CASE_NAME} ${NN_DEPENDENCY}) - - target_link_libraries("${TEST_CASE_NAME}" - "${OpenCV_LIBRARIES}" - "${tvm_runtime_LIBRARIES}" - ) - - target_include_directories("${TEST_CASE_NAME}" SYSTEM PUBLIC - "${OpenCV_INCLUDE_DIRS}" - "${tvm_utility_FOUND_INCLUDE_DIRS}" - "data/models/${TEST_CASE_NAME}_${CMAKE_SYSTEM_PROCESSOR}" - "include" - ) - - # Install test-specific files - if(IS_DIRECTORY ${TEST_ARTIFACTS}/${TEST_CASE_NAME}) - install(DIRECTORY ${TEST_ARTIFACTS}/${TEST_CASE_NAME}/ - DESTINATION ${CMAKE_BINARY_DIR}/${TEST_CASE_NAME}_artifacts - ) - endif() - - else() - message(WARNING "No model is generated for ${TEST_FOLDER}, skipping test") - endif() - - endforeach() -endif() - -if(BUILD_EXAMPLE) - # compile each folder inside example/ as an example - find_package(rclcpp REQUIRED) - - set(EXAMPLE_ARTIFACTS "${CMAKE_CURRENT_LIST_DIR}/artifacts") - file(GLOB EXAMPLE_CASES example/*) - foreach(EXAMPLE_FOLDER ${EXAMPLE_CASES}) - if(NOT IS_DIRECTORY ${EXAMPLE_FOLDER}) - continue() - endif() - # the folder name becomes the example name - file(RELATIVE_PATH EXAMPLE_NAME ${CMAKE_CURRENT_LIST_DIR}/example ${EXAMPLE_FOLDER}) - # Get neural network. - set(NN_DEPENDENCY "") - get_neural_network(${EXAMPLE_NAME} ${${PROJECT_NAME}_BACKEND} NN_DEPENDENCY) - - if(NOT NN_DEPENDENCY STREQUAL "") - if(EXAMPLE_NAME STREQUAL "yolo_v2_tiny" AND - NOT EXISTS ${EXAMPLE_ARTIFACTS}/yolo_v2_tiny/test_image_0.jpg) - message(WARNING "Missing image artifact for yolo_v2_tiny, skipping example") - continue() - endif() - # add all cpp files in the folder to the target - file(GLOB EXAMPLE_SOURCES ${EXAMPLE_FOLDER}/*.cpp) - ament_auto_add_executable(${EXAMPLE_NAME} ${EXAMPLE_SOURCES}) - ament_target_dependencies(${EXAMPLE_NAME} - "ament_index_cpp" - "tvm_vendor" - "rclcpp" - ) - add_dependencies(${EXAMPLE_NAME} ${NN_DEPENDENCY}) - - target_link_libraries("${EXAMPLE_NAME}" - "${OpenCV_LIBRARIES}" - "${tvm_runtime_LIBRARIES}" - ) - - target_include_directories("${EXAMPLE_NAME}" SYSTEM PUBLIC - "${OpenCV_INCLUDE_DIRS}" - "${tvm_utility_FOUND_INCLUDE_DIRS}" - "data/models" - "include" - ) - - else() - message(WARNING "No model is generated for ${EXAMPLE_FOLDER} example") - endif() - - endforeach() -endif() - -list(APPEND ${PROJECT_NAME}_CONFIG_EXTRAS "${PROJECT_NAME}-extras.cmake") -# ament_auto_package() -ament_auto_package( - INSTALL_TO_SHARE - launch - config - artifacts) diff --git a/common/tvm_utility/README.md b/common/tvm_utility/README.md deleted file mode 100644 index 4751428353886..0000000000000 --- a/common/tvm_utility/README.md +++ /dev/null @@ -1,137 +0,0 @@ -# TVM Utility - -This is the design document for the `tvm_utility` package. For instructions on how to build the tests for YOLOv2 Tiny, -see the [YOLOv2 Tiny Example Pipeline](tvm-utility-yolo-v2-tiny-tests.md). -For information about where to store test artifacts see the [TVM Utility Artifacts](artifacts/README.md). - -## Purpose / Use cases - -A set of c++ utilities to help build a TVM based machine learning inference pipeline. The library contains a pipeline -class which helps building the pipeline and a number of utility functions that are common in machine learning. - -## Design - -The Pipeline Class is a standardized way to write an inference pipeline. The pipeline class contains 3 different stages: -the pre-processor, the inference engine and the post-processor. The TVM implementation of an inference engine stage is -provided. - -### API - -The pre-processor and post-processor need to be implemented by the user before instantiating the pipeline. You can see example -usage in the example pipeline at `test/yolo_v2_tiny`. - -Each stage in the pipeline has a `schedule` function which takes input data as a parameter and return the output data. -Once the pipeline object is created, `pipeline.schedule` is called to run the pipeline. - -```{cpp} -int main() { - create_subscription("points_raw", - rclcpp::QoS{1}, [this](const sensor_msgs::msg::PointCloud2::SharedPtr msg) - {pipeline.schedule(msg);}); -} -``` - -#### Version checking - -The `InferenceEngineTVM::version_check` function can be used to check the version of the neural network in use against the range of earliest to latest supported versions. - -The `InferenceEngineTVM` class holds the latest supported version, which needs to be updated when the targeted version changes; after having tested the effect of the version change on the packages dependent on this one. - -The earliest supported version depends on each package making use of the inference, and so should be defined (and maintained) in those packages. - -#### Models - -Dependent packages are expected to use the `get_neural_network` cmake function from this package in order to build proper external dependency. - -### Error detection and handling - -`std::runtime_error` should be thrown whenever an error is encountered. It should be populated with an appropriate text -error description. - -### Neural Networks Provider - -The neural networks are compiled as part of the -[Model Zoo](https://github.com/autowarefoundation/modelzoo/) CI pipeline and saved to an S3 bucket. - -The `get_neural_network` function creates an abstraction for the artifact management. -Users should check if model configuration header file is under "data/user/${MODEL_NAME}/". Otherwise, nothing happens and compilation of the package will be skipped. - -The structure inside of the source directory of the package making use of the function is as follow: - -```{text} -. -├── data -│ └── models -│ ├── ${MODEL 1} -│ │ └── inference_engine_tvm_config.hpp -│ ├── ... -│ └── ${MODEL ...} -│ └── ... -``` - -The `inference_engine_tvm_config.hpp` file needed for compilation by dependent packages should be available under "data/models/${MODEL_NAME}/inference_engine_tvm_config.hpp". -Dependent packages can use the cmake `add_dependencies` function with the name provided in the `DEPENDENCY` output parameter of `get_neural_network` to ensure this file is created before it gets used. - -The other `deploy_*` files are installed to "models/${MODEL_NAME}/" under the `share` directory of the package. - -The other model files should be stored in autoware_data folder under package folder with the structure: - -```{text} -$HOME/autoware_data -| └──${package} -| └──models -| ├── ${MODEL 1} -| | ├── deploy_graph.json -| | ├── deploy_lib.so -| | └── deploy_param.params -| ├── ... -| └── ${MODEL ...} -| └── ... -``` - -#### Inputs / Outputs - -Outputs: - -- `get_neural_network` cmake function; create proper external dependency for a package with use of the model provided by the user. - -In/Out: - -- The `DEPENDENCY` argument of `get_neural_network` can be checked for the outcome of the function. - It is an empty string when the neural network wasn't provided by the user. - -## Security considerations - -### Pipeline - -Both the input and output are controlled by the same actor, so the following security concerns are out-of-scope: - -- Spoofing -- Tampering - -Leaking data to another actor would require a flaw in TVM or the host operating system that allows arbitrary memory to -be read, a significant security flaw in itself. This is also true for an external actor operating the pipeline early: -only the object that initiated the pipeline can run the methods to receive its output. - -A Denial-of-Service attack could make the target hardware unusable for other pipelines but would require being able to -run code on the CPU, which would already allow a more severe Denial-of-Service attack. - -No elevation of privilege is required for this package. - -### Network provider - -The pre-compiled networks are downloaded from an S3 bucket and are under threat of spoofing, -tampering and denial of service. -Spoofing is mitigated by using an https connection. -Mitigations for tampering and denial of service are left to AWS. - -The user-provided networks are installed as they are on the host system. -The user is in charge of securing the files they provide with regard to information disclosure. - -## Future extensions / Unimplemented parts - -Future packages will use tvm_utility as part of the perception stack to run machine learning workloads. - -## Related issues - - diff --git a/common/tvm_utility/artifacts/README.md b/common/tvm_utility/artifacts/README.md deleted file mode 100644 index a2c6affd9a0e7..0000000000000 --- a/common/tvm_utility/artifacts/README.md +++ /dev/null @@ -1,6 +0,0 @@ -# TVM Utility Artifacts - -Place any test artifacts in subdirectories within this directory. - -e.g.: -./artifacts/yolo_v2_tiny diff --git a/common/tvm_utility/artifacts/yolo_v2_tiny/anchors.csv b/common/tvm_utility/artifacts/yolo_v2_tiny/anchors.csv deleted file mode 100644 index 1a3666f7e3483..0000000000000 --- a/common/tvm_utility/artifacts/yolo_v2_tiny/anchors.csv +++ /dev/null @@ -1,5 +0,0 @@ -0.57273, 0.677385f -1.87446, 2.06253f -3.33843, 5.47434f -7.88282, 3.52778f -9.77052, 9.16828f diff --git a/common/tvm_utility/artifacts/yolo_v2_tiny/labels.txt b/common/tvm_utility/artifacts/yolo_v2_tiny/labels.txt deleted file mode 100644 index 941cb4e139226..0000000000000 --- a/common/tvm_utility/artifacts/yolo_v2_tiny/labels.txt +++ /dev/null @@ -1,80 +0,0 @@ -person -bicycle -car -motorcycle -airplane -bus -train -truck -boat -traffic light -fire hydrant -stop sign -parking meter -bench -bird -cat -dog -horse -sheep -cow -elephant -bear -zebra -giraffe -backpack -umbrella -handbag -tie -suitcase -frisbee -skis -snowboard -sports ball -kite -baseball bat -baseball glove -skateboard -surfboard -tennis racket -bottle -wine glass -cup -fork -knife -spoon -bowl -banana -apple -sandwich -orange -broccoli -carrot -hot dog -pizza -donut -cake -chair -couch -potted plant -bed -dining table -toilet -tv -laptop -mouse -remote -keyboard -cell phone -microwave -oven -toaster -sink -refrigerator -book -clock -vase -scissors -teddy bear -hair drier -toothbrush diff --git a/common/tvm_utility/config/yolo_v2_tiny_example.param.yaml b/common/tvm_utility/config/yolo_v2_tiny_example.param.yaml deleted file mode 100644 index b63e4a99f97f2..0000000000000 --- a/common/tvm_utility/config/yolo_v2_tiny_example.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - image_filename: $(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/test_image_0.jpg - label_filename: $(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/labels.txt - anchor_filename: $(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/anchors.csv - data_path: $(env HOME)/autoware_data diff --git a/common/tvm_utility/data/models/abs_model_aarch64/deploy_graph.json b/common/tvm_utility/data/models/abs_model_aarch64/deploy_graph.json deleted file mode 100644 index b226c01747dca..0000000000000 --- a/common/tvm_utility/data/models/abs_model_aarch64/deploy_graph.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "nodes": [ - { - "op": "null", - "name": "a", - "inputs": [] - }, - { - "op": "tvm_op", - "name": "tvmgen_default_fused_abs", - "attrs": { - "num_outputs": "1", - "num_inputs": "1", - "flatten_data": "0", - "func_name": "tvmgen_default_fused_abs", - "hash": "1be44995aa501758" - }, - "inputs": [[0, 0, 0]] - } - ], - "arg_nodes": [0], - "heads": [[1, 0, 0]], - "attrs": { - "dltype": ["list_str", ["float32", "float32"]], - "device_index": ["list_int", [1, 1]], - "storage_id": ["list_int", [0, 1]], - "shape": [ - "list_shape", - [ - [2, 2], - [2, 2] - ] - ] - }, - "node_row_ptr": [0, 1, 2] -} diff --git a/common/tvm_utility/data/models/abs_model_aarch64/deploy_lib.so b/common/tvm_utility/data/models/abs_model_aarch64/deploy_lib.so deleted file mode 100755 index e1ad7cebad734..0000000000000 Binary files a/common/tvm_utility/data/models/abs_model_aarch64/deploy_lib.so and /dev/null differ diff --git a/common/tvm_utility/data/models/abs_model_aarch64/deploy_param.params b/common/tvm_utility/data/models/abs_model_aarch64/deploy_param.params deleted file mode 100644 index 1011def01ed82..0000000000000 Binary files a/common/tvm_utility/data/models/abs_model_aarch64/deploy_param.params and /dev/null differ diff --git a/common/tvm_utility/data/models/abs_model_aarch64/inference_engine_tvm_config.hpp b/common/tvm_utility/data/models/abs_model_aarch64/inference_engine_tvm_config.hpp deleted file mode 100644 index 09c8c0beacebe..0000000000000 --- a/common/tvm_utility/data/models/abs_model_aarch64/inference_engine_tvm_config.hpp +++ /dev/null @@ -1,54 +0,0 @@ -// Copyright 2021 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "tvm_utility/pipeline.hpp" - -#ifndef COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_AARCH64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT -#define COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_AARCH64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - -namespace model_zoo -{ -namespace inf_test -{ -namespace engine_load -{ -namespace abs_model -{ - -static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ - {0, 0, 0}, // modelzoo_version - - // cspell: ignore mtriple - "abs_model_aarch64", // network_name - "llvm -mtriple=aarch64-linux-gnu", // network_backend - - "deploy_lib.so", // network_module_path - "deploy_graph.json", // network_graph_path - "deploy_param.params", // network_params_path - - // cspell: ignore DLCPU - kDLCPU, // tvm_device_type - 0, // tvm_device_id - - {{"a", kDLFloat, 32, 1, {2, 2}}}, // network_inputs - - {{"output", kDLFloat, 32, 1, {2, 2}}} // network_outputs -}; - -} // namespace abs_model -} // namespace engine_load -} // namespace inf_test -} // namespace model_zoo -#endif // COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_AARCH64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - // NOLINT diff --git a/common/tvm_utility/data/models/abs_model_x86_64/deploy_graph.json b/common/tvm_utility/data/models/abs_model_x86_64/deploy_graph.json deleted file mode 100644 index b226c01747dca..0000000000000 --- a/common/tvm_utility/data/models/abs_model_x86_64/deploy_graph.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "nodes": [ - { - "op": "null", - "name": "a", - "inputs": [] - }, - { - "op": "tvm_op", - "name": "tvmgen_default_fused_abs", - "attrs": { - "num_outputs": "1", - "num_inputs": "1", - "flatten_data": "0", - "func_name": "tvmgen_default_fused_abs", - "hash": "1be44995aa501758" - }, - "inputs": [[0, 0, 0]] - } - ], - "arg_nodes": [0], - "heads": [[1, 0, 0]], - "attrs": { - "dltype": ["list_str", ["float32", "float32"]], - "device_index": ["list_int", [1, 1]], - "storage_id": ["list_int", [0, 1]], - "shape": [ - "list_shape", - [ - [2, 2], - [2, 2] - ] - ] - }, - "node_row_ptr": [0, 1, 2] -} diff --git a/common/tvm_utility/data/models/abs_model_x86_64/deploy_lib.so b/common/tvm_utility/data/models/abs_model_x86_64/deploy_lib.so deleted file mode 100644 index 9a6d02817e048..0000000000000 Binary files a/common/tvm_utility/data/models/abs_model_x86_64/deploy_lib.so and /dev/null differ diff --git a/common/tvm_utility/data/models/abs_model_x86_64/deploy_param.params b/common/tvm_utility/data/models/abs_model_x86_64/deploy_param.params deleted file mode 100644 index 1011def01ed82..0000000000000 Binary files a/common/tvm_utility/data/models/abs_model_x86_64/deploy_param.params and /dev/null differ diff --git a/common/tvm_utility/data/models/abs_model_x86_64/inference_engine_tvm_config.hpp b/common/tvm_utility/data/models/abs_model_x86_64/inference_engine_tvm_config.hpp deleted file mode 100644 index 7a7e3ef97c1b3..0000000000000 --- a/common/tvm_utility/data/models/abs_model_x86_64/inference_engine_tvm_config.hpp +++ /dev/null @@ -1,53 +0,0 @@ -// Copyright 2021 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "tvm_utility/pipeline.hpp" - -#ifndef COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_X86_64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT -#define COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_X86_64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - -namespace model_zoo -{ -namespace inf_test -{ -namespace engine_load -{ -namespace abs_model -{ - -static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ - {0, 0, 0}, // modelzoo_version - - "abs_model_x86_64", // network_name - "llvm", // network_backend - - "deploy_lib.so", // network_module_path - "deploy_graph.json", // network_graph_path - "deploy_param.params", // network_params_path - - // cspell: ignore DLCPU - kDLCPU, // tvm_device_type - 0, // tvm_device_id - - {{"a", kDLFloat, 32, 1, {2, 2}}}, // network_inputs - - {{"output", kDLFloat, 32, 1, {2, 2}}} // network_outputs -}; - -} // namespace abs_model -} // namespace engine_load -} // namespace inf_test -} // namespace model_zoo -#endif // COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_X86_64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - // NOLINT diff --git a/common/tvm_utility/data/models/yolo_v2_tiny/inference_engine_tvm_config.hpp b/common/tvm_utility/data/models/yolo_v2_tiny/inference_engine_tvm_config.hpp deleted file mode 100644 index 45ff0d8ce33e3..0000000000000 --- a/common/tvm_utility/data/models/yolo_v2_tiny/inference_engine_tvm_config.hpp +++ /dev/null @@ -1,56 +0,0 @@ -// Copyright 2021 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "tvm_utility/pipeline.hpp" - -#ifndef COMMON__TVM_UTILITY__DATA__MODELS__YOLO_V2_TINY__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT -#define COMMON__TVM_UTILITY__DATA__MODELS__YOLO_V2_TINY__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - -namespace model_zoo -{ -namespace perception -{ -namespace camera_obstacle_detection -{ -namespace yolo_v2_tiny -{ -namespace tensorflow_fp32_coco -{ - -static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ - {3, 0, 0}, // modelzoo_version - - "yolo_v2_tiny", // network_name - "llvm", // network_backend - - // cspell: ignore DLCPU - "./deploy_lib.so", // network_module_path - "./deploy_graph.json", // network_graph_path - "./deploy_param.params", // network_params_path - - kDLCPU, // tvm_device_type - 0, // tvm_device_id - - {{"input", kDLFloat, 32, 1, {-1, 416, 416, 3}}}, // network_inputs - - {{"output", kDLFloat, 32, 1, {1, 13, 13, 425}}} // network_outputs -}; - -} // namespace tensorflow_fp32_coco -} // namespace yolo_v2_tiny -} // namespace camera_obstacle_detection -} // namespace perception -} // namespace model_zoo -#endif // COMMON__TVM_UTILITY__DATA__MODELS__YOLO_V2_TINY__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - // NOLINT diff --git a/common/tvm_utility/example/yolo_v2_tiny/main.cpp b/common/tvm_utility/example/yolo_v2_tiny/main.cpp deleted file mode 100644 index 38b3355ca38ba..0000000000000 --- a/common/tvm_utility/example/yolo_v2_tiny/main.cpp +++ /dev/null @@ -1,307 +0,0 @@ -// Copyright 2021-2022 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "tvm_utility/pipeline.hpp" -#include "yolo_v2_tiny/inference_engine_tvm_config.hpp" - -#include -#include - -#include -#include -#include -#include -#include -#include - -using model_zoo::perception::camera_obstacle_detection::yolo_v2_tiny::tensorflow_fp32_coco::config; - -namespace tvm_utility -{ -namespace yolo_v2_tiny -{ - -class PreProcessorYoloV2Tiny : public tvm_utility::pipeline::PreProcessor -{ -public: - explicit PreProcessorYoloV2Tiny(tvm_utility::pipeline::InferenceEngineTVMConfig config) - : network_input_width(config.network_inputs[0].node_shape[1]), - network_input_height(config.network_inputs[0].node_shape[2]), - network_input_depth(config.network_inputs[0].node_shape[3]), - network_input_datatype_bytes(config.network_inputs[0].tvm_dtype_bits / 8) - { - // Allocate input variable - std::vector shape_x{1, network_input_width, network_input_height, network_input_depth}; - tvm_utility::pipeline::TVMArrayContainer x{ - shape_x, - config.network_inputs[0].tvm_dtype_code, - config.network_inputs[0].tvm_dtype_bits, - config.network_inputs[0].tvm_dtype_lanes, - config.tvm_device_type, - config.tvm_device_id}; - - output = x; - } - - // The cv::Mat can't be used as an input because it throws an exception when - // passed as a constant reference - tvm_utility::pipeline::TVMArrayContainerVector schedule(const std::string & input) - { - // Read input image - auto image = cv::imread(input, cv::IMREAD_COLOR); - if (!image.data) { - throw std::runtime_error("File " + input + " not found"); - } - - // Compute the ratio for resizing and size for padding - double scale_x = static_cast(image.size().width) / network_input_width; - double scale_y = static_cast(image.size().height) / network_input_height; - double scale = std::max(scale_x, scale_y); - - // Perform padding - if (scale != 1) { - cv::resize(image, image, cv::Size(), 1.0f / scale, 1.0f / scale); - } - - size_t w_pad = network_input_width - image.size().width; - size_t h_pad = network_input_height - image.size().height; - - if (w_pad || h_pad) { - cv::copyMakeBorder( - image, image, h_pad / 2, (h_pad - h_pad / 2), w_pad / 2, (w_pad - w_pad / 2), - cv::BORDER_CONSTANT, cv::Scalar(0, 0, 0)); - } - - // Convert pixel values from int8 to float32. convert pixel value range from 0 - 255 to 0 - 1. - cv::Mat3f image_3f{}; - image.convertTo(image_3f, CV_32FC3, 1 / 255.0f); - - // cv library uses BGR as a default color format, the network expects the data in RGB format - cv::cvtColor(image_3f, image_3f, cv::COLOR_BGR2RGB); - - TVMArrayCopyFromBytes( - output.getArray(), image_3f.data, - network_input_width * network_input_height * network_input_depth * - network_input_datatype_bytes); - - return {output}; - } - -private: - int64_t network_input_width; - int64_t network_input_height; - int64_t network_input_depth; - int64_t network_input_datatype_bytes; - tvm_utility::pipeline::TVMArrayContainer output; -}; - -class PostProcessorYoloV2Tiny : public tvm_utility::pipeline::PostProcessor> -{ -public: - explicit PostProcessorYoloV2Tiny( - tvm_utility::pipeline::InferenceEngineTVMConfig config, std::string label_filename, - std::string anchor_filename) - : network_output_width(config.network_outputs[0].node_shape[1]), - network_output_height(config.network_outputs[0].node_shape[2]), - network_output_depth(config.network_outputs[0].node_shape[3]), - network_output_datatype_bytes(config.network_outputs[0].tvm_dtype_bits / 8) - { - // Parse human readable names for the classes - std::ifstream label_file{label_filename}; - if (!label_file.good()) { - throw std::runtime_error("unable to open label file:" + label_filename); - } - std::string line{}; - while (std::getline(label_file, line)) { - labels.push_back(line); - } - - // Get anchor values for this network from the anchor file - std::ifstream anchor_file{anchor_filename}; - if (!anchor_file.good()) { - throw std::runtime_error("unable to open anchor file:" + anchor_filename); - } - std::string first{}; - std::string second{}; - while (std::getline(anchor_file, line)) { - std::stringstream line_stream(line); - std::getline(line_stream, first, ','); - std::getline(line_stream, second, ','); - anchors.push_back(std::make_pair(std::atof(first.c_str()), std::atof(second.c_str()))); - } - } - - // Sigmoid function - float sigmoid(float x) { return static_cast(1.0 / (1.0 + std::exp(-x))); } - - std::vector schedule(const tvm_utility::pipeline::TVMArrayContainerVector & input) - { - auto l_h = network_output_width; // Layer height - auto l_w = network_output_height; // Layer width - auto n_classes = labels.size(); // Total number of classes - auto n_anchors = anchors.size(); // Total number of anchors - const uint32_t n_coords = 4; // Number of coordinates in a single anchor box - - // Assert data is stored row-majored in input and the dtype is float - assert(input[0].getArray()->strides == nullptr); - assert(input[0].getArray()->dtype.bits == sizeof(float) * 8); - - // Copy the inference data to CPU memory - std::vector infer( - network_output_width * network_output_height * network_output_depth, 0); - TVMArrayCopyToBytes( - input[0].getArray(), infer.data(), - network_output_width * network_output_height * network_output_depth * - network_output_datatype_bytes); - - // Utility function to return data from y given index - auto get_output_data = [this, infer, n_classes, n_anchors, n_coords]( - auto row_i, auto col_j, auto anchor_k, auto offset) { - auto box_index = (row_i * network_output_height + col_j) * network_output_depth; - auto index = box_index + anchor_k * (n_classes + n_coords + 1); - return infer[index + offset]; - }; - - // Vector used to check if the result is accurate, - // this is also the output of this (schedule) function - std::vector scores_above_threshold{}; - - // Parse results into detections. Loop over each detection cell in the model output - for (decltype(l_w) i = 0; i < l_w; i++) { - for (decltype(l_h) j = 0; j < l_h; j++) { - for (size_t anchor_k = 0; anchor_k < n_anchors; anchor_k++) { - // Compute property index - auto box_p = get_output_data(i, j, anchor_k, 4); - - // Decode the confidence of detection in this anchor box - auto p_0 = sigmoid(box_p); - - // Find maximum probability of all classes - float max_p = 0.0f; - int max_ind = -1; - for (size_t i_class = 0; i_class < n_classes; i_class++) { - auto class_p = get_output_data(i, j, anchor_k, 5 + i_class); - if (max_p < class_p) { - max_p = class_p; - max_ind = i_class; - } - } - - if (max_ind == -1) continue; - - // Decode and copy class probabilities - std::vector class_probabilities{}; - float p_total = 0; - for (size_t i_class = 0; i_class < n_classes; i_class++) { - auto class_p = get_output_data(i, j, anchor_k, 5 + i_class); - class_probabilities.push_back(std::exp(class_p - max_p)); - p_total += class_probabilities[i_class]; - } - - // Find the most likely score - auto max_score = class_probabilities[max_ind] * p_0 / p_total; - - // Draw all detections with high scores - if (max_score > 0.3) { - scores_above_threshold.push_back(max_score); - } - } - } - } - - return scores_above_threshold; - } - -private: - int64_t network_output_width; - int64_t network_output_height; - int64_t network_output_depth; - int64_t network_output_datatype_bytes; - std::vector labels{}; - std::vector> anchors{}; -}; - -} // namespace yolo_v2_tiny -} // namespace tvm_utility - -bool check_near(double expected, double actual, double tolerance) -{ - return fabs(expected - actual) <= tolerance; -} - -int main(int argc, char * argv[]) -{ - // init node to use parameters - rclcpp::init(argc, argv); - auto node = rclcpp::Node::make_shared("yolo_v2_tiny_example"); - // Filename of the image on which to run the inference - node->declare_parameter("image_filename"); - // Name of file containing the human readable names of the classes. One class - // on each line. - node->declare_parameter("label_filename"); - // Name of file containing the anchor values for the network. Each line is one - // anchor. each anchor has 2 comma separated floating point values. - node->declare_parameter("anchor_filename"); - // Packages data and artifacts directory path. - node->declare_parameter("data_path"); - - RCLCPP_INFO(node->get_logger(), "Node started"); - - // Instantiate the pipeline - using PrePT = tvm_utility::yolo_v2_tiny::PreProcessorYoloV2Tiny; - using IET = tvm_utility::pipeline::InferenceEngineTVM; - using PostPT = tvm_utility::yolo_v2_tiny::PostProcessorYoloV2Tiny; - - PrePT PreP{config}; - IET IE{config, "tvm_utility", node->get_parameter("data_path").as_string()}; - PostPT PostP{ - config, node->get_parameter("label_filename").as_string(), - node->get_parameter("anchor_filename").as_string()}; - - tvm_utility::pipeline::Pipeline pipeline(PreP, IE, PostP); - - // Push data input the pipeline and get the output - auto output = pipeline.schedule(node->get_parameter("image_filename").as_string()); - - // Define reference vector containing expected values, expressed as hexadecimal integers - std::vector int_output{0x3eb64594, 0x3f435656, 0x3ece1600, 0x3e99d381, - 0x3f1cd6bc, 0x3f14f4dd, 0x3ed8065f, 0x3ee9f4fa, - 0x3ec1b5e8, 0x3f4e7c6c, 0x3f136af1}; - - std::vector expected_output(int_output.size()); - - // A memcpy means that the floats in expected_output have a well-defined binary value - for (size_t i = 0; i < int_output.size(); i++) { - memcpy(&expected_output[i], &int_output[i], sizeof(expected_output[i])); - } - - // Test: check if the generated output is equal to the reference - if (expected_output.size() == output.size()) { - RCLCPP_INFO(node->get_logger(), "Model has proper output size"); - } else { - RCLCPP_INFO(node->get_logger(), "Model has unexpected output size"); - } - - for (size_t i = 0; i < output.size(); ++i) { - if (check_near(expected_output[i], output[i], 0.0001)) { - std::cout << "Model has proper output at index: " << i << std::endl; - RCLCPP_INFO(node->get_logger(), "Model has proper output at index: %zu", i); - - } else { - RCLCPP_INFO(node->get_logger(), "Model has unexpected output at index: %zu", i); - } - } - rclcpp::shutdown(); - return 0; -} diff --git a/common/tvm_utility/include/tvm_utility/pipeline.hpp b/common/tvm_utility/include/tvm_utility/pipeline.hpp deleted file mode 100644 index 8c1f22bfcba30..0000000000000 --- a/common/tvm_utility/include/tvm_utility/pipeline.hpp +++ /dev/null @@ -1,414 +0,0 @@ -// Copyright 2021-2022 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef TVM_UTILITY__PIPELINE_HPP_ -#define TVM_UTILITY__PIPELINE_HPP_ - -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -namespace tvm_utility -{ - -/** - * @brief Possible version status for a neural network. - */ -enum class Version { - OK, - Unknown, - Untested, - Unsupported, -}; - -namespace pipeline -{ - -class TVMArrayContainer -{ -public: - TVMArrayContainer() = default; - - TVMArrayContainer( - std::vector shape, DLDataTypeCode dtype_code, int32_t dtype_bits, int32_t dtype_lanes, - DLDeviceType device_type, int32_t device_id) - { - TVMArrayHandle x{}; - TVMArrayAlloc( - &shape[0], static_cast(shape.size()), dtype_code, dtype_bits, dtype_lanes, device_type, - device_id, &x); - handle_ = std::make_shared(x); - } - - TVMArrayHandle getArray() const { return *handle_.get(); } - -private: - std::shared_ptr handle_{nullptr, [](TVMArrayHandle ptr) { - if (ptr) { - TVMArrayFree(ptr); - } - }}; -}; - -using TVMArrayContainerVector = std::vector; - -/** - * @class PipelineStage - * @brief Base class for all types of pipeline stages. - * - * @tparam InputType The datatype of the input of the pipeline stage. - * @tparam OutputType The datatype of the output from the pipeline stage. - */ -template -class PipelineStage -{ -public: - /** - * @brief Execute the pipeline stage - * - * @param input The data to push into the pipeline stage. The pipeline stage - * should not modify the input data. - * @return The output of the pipeline - */ - virtual OutputType schedule(const InputType & input) = 0; - virtual ~PipelineStage() {} - InputType input_type_indicator_; - OutputType output_type_indicator_; -}; - -/** - * @class PreProcessor - * @brief Pre processor of the inference pipeline. In charge of converting data - * from InputType into TVMArrayContainer format. Any necessary pre processing - * of the data, such as image resizing or padding, should also be done in this - * stage . - * - * @tparam InputType The data type of the input to the pre-processing pipeline - * stage. Usually a ROS message type. - */ -template -class PreProcessor : public PipelineStage -{ -}; - -/** - * @class InferenceEngine - * @brief Pipeline stage in charge of machine learning inference. - */ -class InferenceEngine : public PipelineStage -{ -}; - -/** - * @class PostProcessor - * @brief The post processing stage of the inference pipeline. In charge of - * converting the tensor data from the inference stage into detections in - * OutputType, usually a ROS message format. Thing such as decoding bounding - * boxes, non-maximum-suppression and minimum score filtering should be done in - * this stage. - * - * @tparam OutputType The data type of the output of the inference pipeline. - * Usually a ROS message type. - */ -template -class PostProcessor : public PipelineStage -{ -}; - -/** - * @class Pipeline - * @brief Inference Pipeline. Consists of 3 stages: preprocessor, inference - * stage and postprocessor. - */ -template -class Pipeline -{ - using InputType = decltype(std::declval().input_type_indicator_); - using OutputType = decltype(std::declval().output_type_indicator_); - -public: - /** - * @brief Construct a new Pipeline object - * - * @param pre_processor a PreProcessor object - * @param post_processor a PostProcessor object - * @param inference_engine a InferenceEngine object - */ - Pipeline( - PreProcessorType pre_processor, InferenceEngineType inference_engine, - PostProcessorType post_processor) - : pre_processor_(pre_processor), - inference_engine_(inference_engine), - post_processor_(post_processor) - { - } - - /** - * @brief run the pipeline. Return asynchronously in a callback. - * - * @param input The data to push into the pipeline - * @return The pipeline output - */ - OutputType schedule(const InputType & input) - { - auto input_tensor = pre_processor_.schedule(input); - auto output_tensor = inference_engine_.schedule(input_tensor); - return post_processor_.schedule(output_tensor); - } - -private: - PreProcessorType pre_processor_{}; - InferenceEngineType inference_engine_{}; - PostProcessorType post_processor_{}; -}; - -// NetworkNode -typedef struct -{ - // Node name - std::string node_name; - - // Network data type configurations - DLDataTypeCode tvm_dtype_code; - int32_t tvm_dtype_bits; - int32_t tvm_dtype_lanes; - - // Shape info - std::vector node_shape; -} NetworkNode; - -typedef struct -{ - // Network info - std::array modelzoo_version; - std::string network_name; - std::string network_backend; - - // Network files - std::string network_module_path; - std::string network_graph_path; - std::string network_params_path; - - // Inference hardware configuration - DLDeviceType tvm_device_type; - int32_t tvm_device_id; - - // Network inputs - std::vector network_inputs; - - // Network outputs - std::vector network_outputs; -} InferenceEngineTVMConfig; - -class InferenceEngineTVM : public InferenceEngine -{ -public: - explicit InferenceEngineTVM( - const InferenceEngineTVMConfig & config, const std::string & pkg_name, - const std::string & autoware_data_path = "") - : config_(config) - { - // Get full network path - std::string network_prefix; - if (autoware_data_path == "") { - network_prefix = ament_index_cpp::get_package_share_directory(pkg_name) + "/models/" + - config.network_name + "/"; - } else { - network_prefix = autoware_data_path + "/" + pkg_name + "/models/" + config.network_name + "/"; - } - std::string network_module_path = network_prefix + config.network_module_path; - std::string network_graph_path = network_prefix + config.network_graph_path; - std::string network_params_path = network_prefix + config.network_params_path; - - // Load compiled functions - std::ifstream module(network_module_path); - if (!module.good()) { - throw std::runtime_error( - "File " + network_module_path + " specified in inference_engine_tvm_config.hpp not found"); - } - module.close(); - tvm::runtime::Module mod = tvm::runtime::Module::LoadFromFile(network_module_path); - - // Load json graph - std::ifstream json_in(network_graph_path, std::ios::in); - if (!json_in.good()) { - throw std::runtime_error( - "File " + network_graph_path + " specified in inference_engine_tvm_config.hpp not found"); - } - std::string json_data( - (std::istreambuf_iterator(json_in)), std::istreambuf_iterator()); - json_in.close(); - - // Load parameters from binary file - std::ifstream params_in(network_params_path, std::ios::binary); - if (!params_in.good()) { - throw std::runtime_error( - "File " + network_params_path + " specified in inference_engine_tvm_config.hpp not found"); - } - std::string params_data( - (std::istreambuf_iterator(params_in)), std::istreambuf_iterator()); - params_in.close(); - - // Parameters need to be in TVMByteArray format - TVMByteArray params_arr; - params_arr.data = params_data.c_str(); - params_arr.size = params_data.length(); - - // Create tvm runtime module - tvm::runtime::Module runtime_mod = (*tvm::runtime::Registry::Get("tvm.graph_executor.create"))( - json_data, mod, static_cast(config.tvm_device_type), config.tvm_device_id); - - // Load parameters - auto load_params = runtime_mod.GetFunction("load_params"); - load_params(params_arr); - - // Get set_input function - set_input = runtime_mod.GetFunction("set_input"); - - // Get the function which executes the network - execute = runtime_mod.GetFunction("run"); - - // Get the function to get output data - get_output = runtime_mod.GetFunction("get_output"); - - for (auto & output_config : config.network_outputs) { - output_.push_back(TVMArrayContainer( - output_config.node_shape, output_config.tvm_dtype_code, output_config.tvm_dtype_bits, - output_config.tvm_dtype_lanes, config.tvm_device_type, config.tvm_device_id)); - } - } - - TVMArrayContainerVector schedule(const TVMArrayContainerVector & input) override - { - // Set input(s) - for (uint32_t index = 0; index < input.size(); ++index) { - if (input[index].getArray() == nullptr) { - throw std::runtime_error("input variable is null"); - } - set_input(config_.network_inputs[index].node_name.c_str(), input[index].getArray()); - } - - // Execute the inference - execute(); - - // Get output(s) - for (uint32_t index = 0; index < output_.size(); ++index) { - if (output_[index].getArray() == nullptr) { - throw std::runtime_error("output variable is null"); - } - get_output(index, output_[index].getArray()); - } - return output_; - } - - /** - * @brief Get version information from the config structure and check if there is a mismatch - * between the supported version(s) and the actual version. - * @param[in] version_from Earliest supported model version. - * @return The version status. - */ - Version version_check(const std::array & version_from) const - { - auto x{config_.modelzoo_version[0]}; - auto y{config_.modelzoo_version[1]}; - Version ret{Version::OK}; - - if (x == 0) { - ret = Version::Unknown; - } else if (x > version_up_to[0] || (x == version_up_to[0] && y > version_up_to[1])) { - ret = Version::Untested; - } else if (x < version_from[0] || (x == version_from[0] && y < version_from[1])) { - ret = Version::Unsupported; - } - - return ret; - } - -private: - InferenceEngineTVMConfig config_; - TVMArrayContainerVector output_; - tvm::runtime::PackedFunc set_input; - tvm::runtime::PackedFunc execute; - tvm::runtime::PackedFunc get_output; - // Latest supported model version. - const std::array version_up_to{2, 1, 0}; -}; - -template < - class PreProcessorType, class InferenceEngineType, class TVMScriptEngineType, - class PostProcessorType> -class TowStagePipeline -{ - using InputType = decltype(std::declval().input_type_indicator_); - using OutputType = decltype(std::declval().output_type_indicator_); - -public: - /** - * @brief Construct a new Pipeline object - * - * @param pre_processor a PreProcessor object - * @param post_processor a PostProcessor object - * @param inference_engine a InferenceEngine object - */ - TowStagePipeline( - std::shared_ptr pre_processor, - std::shared_ptr inference_engine_1, - std::shared_ptr tvm_script_engine, - std::shared_ptr inference_engine_2, - std::shared_ptr post_processor) - : pre_processor_(pre_processor), - inference_engine_1_(inference_engine_1), - tvm_script_engine_(tvm_script_engine), - inference_engine_2_(inference_engine_2), - post_processor_(post_processor) - { - } - - /** - * @brief run the pipeline. Return asynchronously in a callback. - * - * @param input The data to push into the pipeline - * @return The pipeline output - */ - OutputType schedule(const InputType & input) - { - auto input_tensor = pre_processor_->schedule(input); - auto output_infer_1 = inference_engine_1_->schedule(input_tensor); - auto output_tvm_script = tvm_script_engine_->schedule(output_infer_1); - auto output_infer_2 = inference_engine_2_->schedule(output_tvm_script); - return post_processor_->schedule(output_infer_2); - } - -private: - std::shared_ptr pre_processor_; - std::shared_ptr inference_engine_1_; - std::shared_ptr tvm_script_engine_; - std::shared_ptr inference_engine_2_; - std::shared_ptr post_processor_; -}; - -} // namespace pipeline -} // namespace tvm_utility -#endif // TVM_UTILITY__PIPELINE_HPP_ diff --git a/common/tvm_utility/launch/yolo_v2_tiny_example.launch.xml b/common/tvm_utility/launch/yolo_v2_tiny_example.launch.xml deleted file mode 100644 index 045a6fc9dfa27..0000000000000 --- a/common/tvm_utility/launch/yolo_v2_tiny_example.launch.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - diff --git a/common/tvm_utility/package.xml b/common/tvm_utility/package.xml deleted file mode 100644 index a1984a84c0bdc..0000000000000 --- a/common/tvm_utility/package.xml +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - tvm_utility - 0.38.0 - - A set of utility functions to help build a machine learning pipeline using - TVM as the inference engine. - - Ambroise Vincent - Xinyu Wang - Apache License 2.0 - - autoware_cmake - - ament_index_cpp - libopenblas-dev - libopencv-dev - tvm_vendor - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/common/tvm_utility/schema/yolo_v2_tiny_example.schema.json b/common/tvm_utility/schema/yolo_v2_tiny_example.schema.json deleted file mode 100644 index 8ee1987f73a62..0000000000000 --- a/common/tvm_utility/schema/yolo_v2_tiny_example.schema.json +++ /dev/null @@ -1,47 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "Parameters for yolo_v2_tiny_example of tvm_utility", - "type": "object", - "definitions": { - "yolo_v2_tiny_example": { - "type": "object", - "properties": { - "image_filename": { - "type": "string", - "default": "$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/test_image_0.jpg", - "description": "Filename of the image on which to run the inference." - }, - "label_filename": { - "type": "string", - "default": "$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/labels.txt", - "description": "Name of file containing the human readable names of the classes. One class on each line." - }, - "anchor_filename": { - "type": "string", - "default": "$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/anchors.csv", - "description": "Name of file containing the anchor values for the network. Each line is one anchor. each anchor has 2 comma separated floating point values." - }, - "data_path": { - "type": "string", - "default": "$(env HOME)/autoware_data", - "description": "Packages data and artifacts directory path." - } - }, - "required": ["image_filename", "label_filename", "anchor_filename", "data_path"] - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/yolo_v2_tiny_example" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false -} diff --git a/common/tvm_utility/test/abs_model/main.cpp b/common/tvm_utility/test/abs_model/main.cpp deleted file mode 100644 index 4bf1a69c0556b..0000000000000 --- a/common/tvm_utility/test/abs_model/main.cpp +++ /dev/null @@ -1,146 +0,0 @@ -// Copyright 2021-2022 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "gtest/gtest.h" -#include "tvm_utility/pipeline.hpp" -// file for current arch x86 or arm is chosen in cmake file -#include -#include - -#include -#include -#include -#include -#include - -using model_zoo::inf_test::engine_load::abs_model::config; - -namespace tvm_utility -{ -namespace abs_model -{ - -class PreProcessorLinearModel : public tvm_utility::pipeline::PreProcessor> -{ -public: - explicit PreProcessorLinearModel(tvm_utility::pipeline::InferenceEngineTVMConfig config) - : network_input_a_width(config.network_inputs[0].node_shape[0]), - network_input_a_height(config.network_inputs[0].node_shape[1]), - network_input_datatype_bytes(config.network_inputs[0].tvm_dtype_bits / 8) - { - // Allocate input variable - std::vector shape_a{network_input_a_width, network_input_a_height}; - tvm_utility::pipeline::TVMArrayContainer a{ - shape_a, - config.network_inputs[0].tvm_dtype_code, - config.network_inputs[0].tvm_dtype_bits, - config.network_inputs[0].tvm_dtype_lanes, - config.tvm_device_type, - config.tvm_device_id}; - - output = a; - } - - // The cv::Mat can't be used as an input because it throws an exception when - // passed as a constant reference - tvm_utility::pipeline::TVMArrayContainerVector schedule(const std::vector & input) - { - float input_mat[2][2]; - input_mat[0][0] = input[0]; - input_mat[0][1] = input[1]; - input_mat[1][0] = input[2]; - input_mat[1][1] = input[3]; - - // Create cv::Mat from input array - cv::Mat a_input = cv::Mat(2, 2, CV_32F, &input_mat); - - TVMArrayCopyFromBytes( - output.getArray(), a_input.data, - network_input_a_width * network_input_a_height * network_input_datatype_bytes); - - return {output}; - } - -private: - int64_t network_input_a_width; - int64_t network_input_a_height; - int64_t network_input_datatype_bytes; - tvm_utility::pipeline::TVMArrayContainer output; -}; - -class PostProcessorLinearModel : public tvm_utility::pipeline::PostProcessor> -{ -public: - explicit PostProcessorLinearModel(tvm_utility::pipeline::InferenceEngineTVMConfig config) - : network_output_width(config.network_outputs[0].node_shape[0]), - network_output_height(config.network_outputs[0].node_shape[1]), - network_output_datatype_bytes(config.network_outputs[0].tvm_dtype_bits / 8) - { - } - - std::vector schedule(const tvm_utility::pipeline::TVMArrayContainerVector & input) - { - // Assert data is stored row-majored in input and the dtype is float - assert(input[0].getArray()->strides == nullptr); - assert(input[0].getArray()->dtype.bits == sizeof(float) * 8); - - // Copy the inference data to CPU memory - std::vector infer(network_output_width * network_output_height, 0.0f); - - TVMArrayCopyToBytes( - input[0].getArray(), infer.data(), - network_output_width * network_output_height * network_output_datatype_bytes); - - return infer; - } - -private: - int64_t network_output_width; - int64_t network_output_height; - int64_t network_output_datatype_bytes; -}; - -TEST(PipelineExamples, SimplePipeline) -{ - // // Instantiate the pipeline - using PrePT = PreProcessorLinearModel; - using IET = tvm_utility::pipeline::InferenceEngineTVM; - using PostPT = PostProcessorLinearModel; - - PrePT PreP{config}; - IET IE{config, "tvm_utility"}; - PostPT PostP{config}; - - tvm_utility::pipeline::Pipeline pipeline(PreP, IE, PostP); - - auto version_status = IE.version_check({2, 0, 0}); - EXPECT_NE(version_status, tvm_utility::Version::Unsupported); - - // create input array - std::vector input_arr{-1., -2., -3., 4.}; - // send it to the model - auto output = pipeline.schedule(input_arr); - - // define vector with expected values - std::vector expected_output{1., 2., 3., 4.}; - - // // Test: check if the generated output is equal to the reference - EXPECT_EQ(expected_output.size(), output.size()) << "Unexpected output size"; - for (size_t i = 0; i < output.size(); ++i) { - EXPECT_NEAR(expected_output[i], output[i], 0.0001) << "at index: " << i; - } -} - -} // namespace abs_model -} // namespace tvm_utility diff --git a/common/tvm_utility/tvm-utility-yolo-v2-tiny-tests.md b/common/tvm_utility/tvm-utility-yolo-v2-tiny-tests.md deleted file mode 100644 index 39bcc640c2147..0000000000000 --- a/common/tvm_utility/tvm-utility-yolo-v2-tiny-tests.md +++ /dev/null @@ -1,53 +0,0 @@ -# YOLOv2 Tiny Example Pipeline - -This is an example implementation of an inference pipeline using the pipeline -framework. This example pipeline executes the -[YOLO V2 Tiny](https://pjreddie.com/darknet/yolov2/) model and decodes its -output. - -## Compiling the Example - - - -1. Check if model was downloaded during the env preparation step by ansible and - models files exist in the folder $HOME/autoware_data/tvm_utility/models/yolo_v2_tiny. - - If not you can download them manually, see [Manual Artifacts Downloading](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts). - -2. Download an example image to be used as test input. This image needs to be - saved in the `artifacts/yolo_v2_tiny/` folder. - - ```sh - curl https://raw.githubusercontent.com/pjreddie/darknet/master/data/dog.jpg \ - > artifacts/yolo_v2_tiny/test_image_0.jpg - ``` - -3. Build. - - ```sh - colcon build --packages-up-to tvm_utility --cmake-args -DBUILD_EXAMPLE=ON - ``` - -4. Run. - - ```sh - ros2 launch tvm_utility yolo_v2_tiny_example.launch.xml - ``` - -## Parameters - -| Name | Type | Default Value | Description | -| ----------------- | ------ | ----------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- | -| `image_filename` | string | `$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/test_image_0.jpg` | Filename of the image on which to run the inference. | -| `label_filename` | string | `$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/labels.txt` | Name of file containing the human readable names of the classes. One class on each line. | -| `anchor_filename` | string | `$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/anchors.csv` | Name of file containing the anchor values for the network. Each line is one anchor. each anchor has 2 comma separated floating point values. | -| `data_path` | string | `$(env HOME)/autoware_data` | Packages data and artifacts directory path. | - -## GPU backend - -Vulkan is supported by default by the tvm_vendor package. -It can be selected by setting the `tvm_utility_BACKEND` variable: - -```sh -colcon build --packages-up-to tvm_utility -Dtvm_utility_BACKEND=vulkan -``` diff --git a/common/tvm_utility/tvm_utility-extras.cmake b/common/tvm_utility/tvm_utility-extras.cmake deleted file mode 100644 index 414644c1fe041..0000000000000 --- a/common/tvm_utility/tvm_utility-extras.cmake +++ /dev/null @@ -1,61 +0,0 @@ -# Copyright 2021-2022 Arm Ltd. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# -# Make inference_engine_tvm_config.hpp available under "data/models/${MODEL_NAME}/". -# Install the TVM artifacts to "share/${PROJECT_NAME}/models/". -# Return the name of the custom target in the DEPENDENCY parameter. -# -# :param MODEL_NAME: the name of the targeted neural network -# :type MODEL_NAME: string -# :param MODEL_BACKEND: the name of the targeted backend -# :type MODEL_BACKEND: string -# :param DEPENDENCY: output parameter; name of the ExternalProject top level target -# :type DEPENDENCY: string -# -function(get_neural_network MODEL_NAME MODEL_BACKEND DEPENDENCY) - set(DATA_PATH ${CMAKE_CURRENT_SOURCE_DIR}/data) - set(EXTERNALPROJECT_NAME ${MODEL_NAME}_${MODEL_BACKEND}) - set(PREPROCESSING "") - - if(IS_DIRECTORY "${DATA_PATH}/models/${MODEL_NAME}") - set(SOURCE_DIR "${DATA_PATH}/models/${MODEL_NAME}") - set(INSTALL_DIRECTORY "${DATA_PATH}/models/${MODEL_NAME}") - if(EXISTS "${DATA_PATH}/models/${MODEL_NAME}/preprocessing_inference_engine_tvm_config.hpp") - set(PREPROCESSING "${DATA_PATH}/models/${MODEL_NAME}/preprocessing_inference_engine_tvm_config.hpp") - endif() - else() - message(WARNING "No model configuration files were provided") - set(${DEPENDENCY} "" PARENT_SCOPE) - return() - endif() - - include(ExternalProject) - externalproject_add(${EXTERNALPROJECT_NAME} - SOURCE_DIR ${SOURCE_DIR} - CONFIGURE_COMMAND "" - BUILD_COMMAND "" - BUILD_BYPRODUCTS "${DATA_PATH}/models/${MODEL_NAME}/inference_engine_tvm_config.hpp" - BUILD_BYPRODUCTS ${PREPROCESSING} - INSTALL_COMMAND "" - ) - install( - DIRECTORY ${INSTALL_DIRECTORY} - DESTINATION "share/${PROJECT_NAME}/models/" - USE_SOURCE_PERMISSIONS - ) - - set(${DEPENDENCY} ${EXTERNALPROJECT_NAME} PARENT_SCOPE) - -endfunction() diff --git a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst index 57dd5781899c5..6e8285c25481d 100644 --- a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst +++ b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_autonomous_emergency_braking 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autonomous_emergency_braking): fix no backward imu path and wrong back distance usage (`#9141 `_) +* fix(autonomous_emergency_braking): fix no backward imu path and wrong back distance usage (`#9141 `_) * fix no backward imu path and wrong back distance usage * use the motion utils isDrivingForward function --------- -* refactor(autoware_autonomous_emergency_braking): rename info_marker_publisher to virtual_wall_publisher (`#9078 `_) -* feat(autonomous_emergency_braking): set max imu path length (`#9004 `_) +* refactor(autoware_autonomous_emergency_braking): rename info_marker_publisher to virtual_wall_publisher (`#9078 `_) +* feat(autonomous_emergency_braking): set max imu path length (`#9004 `_) * set a limit to the imu path length * fix test and add a new one * update readme @@ -19,9 +19,9 @@ Changelog for package autoware_autonomous_emergency_braking * refactor to reduce repeated code * cleaning code --------- -* feat(autonomous_emergency_braking): add sanity chackes (`#8998 `_) +* feat(autonomous_emergency_braking): add sanity chackes (`#8998 `_) add sanity chackes -* feat(autonomous_emergency_braking): calculate the object's velocity in the search area (`#8591 `_) +* feat(autonomous_emergency_braking): calculate the object's velocity in the search area (`#8591 `_) * refactor PR * WIP * change using polygon to lateral offset @@ -31,45 +31,45 @@ Changelog for package autoware_autonomous_emergency_braking * fix empty path points in short parking scenario * fix readme conflicts --------- -* docs(autonomous_emergency_braking): add missing params to README (`#8950 `_) +* docs(autonomous_emergency_braking): add missing params to README (`#8950 `_) add missing params -* feat(autonomous_emergency_braking): make hull markers 3d (`#8930 `_) +* feat(autonomous_emergency_braking): make hull markers 3d (`#8930 `_) make hull markers 3d -* docs(autonomous_emergency_braking): make a clearer image for aeb when localization is faulty (`#8873 `_) +* docs(autonomous_emergency_braking): make a clearer image for aeb when localization is faulty (`#8873 `_) make a clearer image for aeb when localization is faulty -* feat(autonomous_emergency_braking): add markers showing aeb convex hull polygons for debugging purposes (`#8865 `_) +* feat(autonomous_emergency_braking): add markers showing aeb convex hull polygons for debugging purposes (`#8865 `_) * add markers showing aeb convex hull polygons for debugging purposes * fix briefs * fix typo --------- -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* feat(autonomous_emergency_braking): speed up aeb (`#8778 `_) +* feat(autonomous_emergency_braking): speed up aeb (`#8778 `_) * add missing rclcpp::Time(0) * refactor to reduce cropping to once per iteration * add LookUpTransform to utils * separate object creation and clustering * error handling of empty pointcloud --------- -* feat(autonomous_emergency_braking): increase aeb speed by getting last transform (`#8734 `_) +* feat(autonomous_emergency_braking): increase aeb speed by getting last transform (`#8734 `_) set stamp to 0 to get the latest stamp instead of waiting for the stamp -* feat(autonomous_emergency_braking): add timekeeper to AEB (`#8706 `_) +* feat(autonomous_emergency_braking): add timekeeper to AEB (`#8706 `_) * add timekeeper to AEB * add more info to output --------- -* docs(autoware_autonomous_emergency_braking): improve AEB module's README (`#8612 `_) +* docs(autoware_autonomous_emergency_braking): improve AEB module's README (`#8612 `_) * docs: improve AEB module's README * update rss distance length --------- -* fix(autonomous_emergency_braking): fix debug marker visual bug (`#8611 `_) +* fix(autonomous_emergency_braking): fix debug marker visual bug (`#8611 `_) fix bug by using the collision data keeper -* feat(autonomous_emergency_braking): enable aeb with only one req path (`#8569 `_) +* feat(autonomous_emergency_braking): enable aeb with only one req path (`#8569 `_) * make it so AEB works with only one req path type (imu or MPC) * fix missing mpc path return * add check * modify no path msg --------- -* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) +* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) * add initial tests * add more tests * more tests @@ -84,11 +84,11 @@ Changelog for package autoware_autonomous_emergency_braking * add briefs * delete repeated test --------- -* docs(autonomous_emergency_braking): update readme for new param (`#8330 `_) +* docs(autonomous_emergency_braking): update readme for new param (`#8330 `_) update readme for new param -* feat(autonomous_emergency_braking): add info marker and override for state (`#8312 `_) +* feat(autonomous_emergency_braking): add info marker and override for state (`#8312 `_) add info marker and override for state -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -102,23 +102,23 @@ Changelog for package autoware_autonomous_emergency_braking --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat(autonomous_emergency_braking): add virtual stop wall to aeb (`#7894 `_) +* feat(autonomous_emergency_braking): add virtual stop wall to aeb (`#7894 `_) * add virtual stop wall to aeb * add maintainer * add uppercase * use motion utils function instead of shiftPose --------- -* chore(autonomous_emergency_braking): apply clangd suggestions to aeb (`#7703 `_) +* chore(autonomous_emergency_braking): apply clangd suggestions to aeb (`#7703 `_) * apply clangd suggestions * add maintainer --------- -* feat(autonomous_emergency_braking): aeb add support negative speeds (`#7707 `_) +* feat(autonomous_emergency_braking): aeb add support negative speeds (`#7707 `_) * add support for negative speeds * remove negative speed check for predicted obj --------- -* fix(autonomous_emergency_braking): aeb strange mpc polygon (`#7740 `_) +* fix(autonomous_emergency_braking): aeb strange mpc polygon (`#7740 `_) change resize to reserve -* feat(autonomous_emergency_braking): add cluster min height for aeb (`#7605 `_) +* feat(autonomous_emergency_braking): add cluster min height for aeb (`#7605 `_) * add minimum cluster height threshold * add update param option * use param @@ -126,8 +126,8 @@ Changelog for package autoware_autonomous_emergency_braking * update README * add cluster height description --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) * add polling sub to predicted objects * WIP requires changing path frame to map * add parameters and reuse predicted obj speed @@ -142,34 +142,34 @@ Changelog for package autoware_autonomous_emergency_braking * add utils.cpp * remove _ for non member variable --------- -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* feat(autonomous_emergency_braking): aeb disable obj velocity calc w param (`#7493 `_) - * feat(autonomous_emergenct_braking): update README and imgs of aeb (`#7482 `_) +* feat(autonomous_emergency_braking): aeb disable obj velocity calc w param (`#7493 `_) + * feat(autonomous_emergenct_braking): update README and imgs of aeb (`#7482 `_) update README * add param to toggle on or off object speed calc for aeb * pre-commit readme --------- -* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) set single depth sensor data qos for pointlcoud polling subscribers -* feat(autonomous_emergenct_braking): update README and imgs of aeb (`#7482 `_) +* feat(autonomous_emergenct_braking): update README and imgs of aeb (`#7482 `_) update README -* feat(autonomous_emergency_braking): aeb for backwards driving (`#7279 `_) +* feat(autonomous_emergency_braking): aeb for backwards driving (`#7279 `_) * add support for backward path AEB * fix sign) * add abs and protect against nan * solve sign problem with relative speed --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -204,7 +204,7 @@ Changelog for package autoware_autonomous_emergency_braking * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) +* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) * change package name * add the prefix * change option diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp index 32bedd15c5c53..d18185c77335c 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp @@ -34,6 +34,8 @@ #include #include #include +#include +#include #include #include @@ -77,6 +79,8 @@ using Vector3 = geometry_msgs::msg::Vector3; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; using colorTuple = std::tuple; +using Metric = tier4_metric_msgs::msg::Metric; +using MetricArray = tier4_metric_msgs::msg::MetricArray; /** * @brief Struct to store object data @@ -345,6 +349,7 @@ class AEB : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_processing_time_detail_pub_; rclcpp::Publisher::SharedPtr debug_rss_distance_publisher_; + rclcpp::Publisher::SharedPtr metrics_pub_; // timer rclcpp::TimerBase::SharedPtr timer_; mutable std::shared_ptr time_keeper_{nullptr}; diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml index 2fc87ee0a8acd..edec3ac8fd6a1 100644 --- a/control/autoware_autonomous_emergency_braking/package.xml +++ b/control/autoware_autonomous_emergency_braking/package.xml @@ -15,6 +15,7 @@ ament_cmake autoware_cmake ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common autoware_test_utils @@ -42,6 +43,7 @@ tf2_geometry_msgs tf2_ros tier4_debug_msgs + tier4_metric_msgs visualization_msgs diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index c785ab661060d..846a7654d7313 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -142,6 +142,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) virtual_wall_publisher_ = this->create_publisher("~/virtual_wall", 1); debug_rss_distance_publisher_ = this->create_publisher("~/debug/rss_distance", 1); + metrics_pub_ = this->create_publisher("~/metrics", 1); } // Diagnostics { @@ -400,6 +401,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) { MarkerArray debug_markers; MarkerArray virtual_wall_marker; + auto metrics = MetricArray(); checkCollision(debug_markers); if (!collision_data_keeper_.checkCollisionExpired()) { @@ -416,6 +418,14 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) } } addVirtualStopWallMarker(virtual_wall_marker); + + { + auto metric = Metric(); + metric.name = "decision"; + metric.value = "brake"; + metrics.metric_array.push_back(metric); + } + } else { const std::string error_msg = "[AEB]: No Collision"; const auto diag_level = DiagnosticStatus::OK; @@ -425,6 +435,9 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) // publish debug markers debug_marker_publisher_->publish(debug_markers); virtual_wall_publisher_->publish(virtual_wall_marker); + // publish metrics + metrics.stamp = get_clock()->now(); + metrics_pub_->publish(metrics); } bool AEB::checkCollision(MarkerArray & debug_markers) diff --git a/control/autoware_collision_detector/CHANGELOG.rst b/control/autoware_collision_detector/CHANGELOG.rst index 8e30f7119a4dd..3e6f87d08dd6d 100644 --- a/control/autoware_collision_detector/CHANGELOG.rst +++ b/control/autoware_collision_detector/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_collision_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(collision_detector): add maintainer (`#9184 `_) +* chore(collision_detector): add maintainer (`#9184 `_) add maintainer -* feat(collision_detector): add autoware_collision_detector (`#9157 `_) +* feat(collision_detector): add autoware_collision_detector (`#9157 `_) * add new package autoware_collision_detector * update to latest * fix diff --git a/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp b/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp index 79cdd2ef91c35..a45f70fc2612e 100644 --- a/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp +++ b/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp @@ -108,6 +108,8 @@ class CollisionDetectorNode : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_; // publisher and subscriber + autoware::universe_utils::InterProcessPollingSubscriber sub_odometry_{ + this, "~/input/odometry"}; autoware::universe_utils::InterProcessPollingSubscriber sub_pointcloud_{this, "~/input/pointcloud", autoware::universe_utils::SingleDepthSensorQoS()}; autoware::universe_utils::InterProcessPollingSubscriber sub_dynamic_objects_{ @@ -121,6 +123,7 @@ class CollisionDetectorNode : public rclcpp::Node autoware::vehicle_info_utils::VehicleInfo vehicle_info_; // data + nav_msgs::msg::Odometry::ConstSharedPtr odometry_ptr_; sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; PredictedObjects::ConstSharedPtr object_ptr_; OperationModeState::ConstSharedPtr operation_mode_ptr_; diff --git a/control/autoware_collision_detector/src/node.cpp b/control/autoware_collision_detector/src/node.cpp index e6618c4670d4e..cfb9e5bfc6dbb 100644 --- a/control/autoware_collision_detector/src/node.cpp +++ b/control/autoware_collision_detector/src/node.cpp @@ -312,6 +312,14 @@ bool CollisionDetectorNode::shouldBeExcluded( void CollisionDetectorNode::checkCollision(diagnostic_updater::DiagnosticStatusWrapper & stat) { + odometry_ptr_ = sub_odometry_.takeData(); + + if (!odometry_ptr_) { + RCLCPP_INFO_THROTTLE( + this->get_logger(), *this->get_clock(), 5000 /* ms */, "waiting for current odometry..."); + return; + } + pointcloud_ptr_ = sub_pointcloud_.takeData(); object_ptr_ = sub_dynamic_objects_.takeData(); operation_mode_ptr_ = sub_operation_mode_.takeData(); diff --git a/control/autoware_control_validator/CHANGELOG.rst b/control/autoware_control_validator/CHANGELOG.rst index ed60e0b6e14c6..9b57a109b7780 100644 --- a/control/autoware_control_validator/CHANGELOG.rst +++ b/control/autoware_control_validator/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package autoware_control_validator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(control_validator): add hold and lpf (`#9120 `_) -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(control_validator): add hold and lpf (`#9120 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* feat(autoware_control_validator): refactoring & testing (`#8096 `_) +* feat(autoware_control_validator): refactoring & testing (`#8096 `_) * refactoring * updating... * update @@ -24,29 +24,29 @@ Changelog for package autoware_control_validator * Update CMakeLists.txt * use yaml to load vehicle info --------- -* fix(control_validator): fix param names and doc (`#8104 `_) +* fix(control_validator): fix param names and doc (`#8104 `_) * fix -* feat(control_validator)!: add velocity check (`#7806 `_) +* feat(control_validator)!: add velocity check (`#7806 `_) * add velocity check --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* feat(autoware_control_validator): add polling subcribers (`#7426 `_) +* feat(autoware_control_validator): add polling subcribers (`#7426 `_) * add polling subs * delete extra line --------- -* fix(autoware_control_validator): fix vehicle info utils (`#7417 `_) -* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) +* fix(autoware_control_validator): fix vehicle info utils (`#7417 `_) +* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) * rename folders * rename add prefix * change param path diff --git a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp index 86ffac1ec371e..080e8f0e6abc3 100644 --- a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp +++ b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp @@ -149,7 +149,6 @@ class ControlValidator : public rclcpp::Node ControlValidatorStatus validation_status_; ValidationParams validation_params_; // for thresholds - bool is_velocity_valid_{true}; autoware::signal_processing::LowpassFilter1d vehicle_vel_{0.0}; autoware::signal_processing::LowpassFilter1d target_vel_{0.0}; bool hold_velocity_error_until_stop_{false}; diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml index dc71ec6cc3830..fbe759547aba1 100644 --- a/control/autoware_control_validator/package.xml +++ b/control/autoware_control_validator/package.xml @@ -33,6 +33,7 @@ visualization_msgs ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common autoware_test_utils diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index 796928519e8d1..d51282cb33bb3 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -191,9 +191,7 @@ void ControlValidator::validate( const Odometry & kinematics) { if (predicted_trajectory.points.size() < 2) { - RCLCPP_ERROR_THROTTLE( - get_logger(), *get_clock(), 1000, - "predicted_trajectory size is less than 2. Cannot validate."); + RCLCPP_DEBUG(get_logger(), "predicted_trajectory size is less than 2. Cannot validate."); return; } if (reference_trajectory.points.size() < 2) { diff --git a/control/autoware_external_cmd_selector/CHANGELOG.rst b/control/autoware_external_cmd_selector/CHANGELOG.rst index 9d374ddb8a77d..fee762039a445 100644 --- a/control/autoware_external_cmd_selector/CHANGELOG.rst +++ b/control/autoware_external_cmd_selector/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_external_cmd_selector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(external_cmd_selector): rework parameters (`#8198 `_) +* refactor(external_cmd_selector): rework parameters (`#8198 `_) * refactor(external_cmd_selector): rework parameters * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(control)!: refactor directory structures of the control interface nodes (`#7528 `_) +* refactor(control)!: refactor directory structures of the control interface nodes (`#7528 `_) * external_cmd_selector * joy_controller --------- -* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) +* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) refactor(external_cmd_selector): prefix package and namespace with autoware\_ * Contributors: Batuhan Beytekin, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo diff --git a/control/autoware_joy_controller/CHANGELOG.rst b/control/autoware_joy_controller/CHANGELOG.rst index 5ba17c9395876..5e73b2921e356 100644 --- a/control/autoware_joy_controller/CHANGELOG.rst +++ b/control/autoware_joy_controller/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_joy_controller 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_joy_controller): add virtual destructor to autoware_joy_controller (`#7760 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(autoware_joy_controller): add virtual destructor to autoware_joy_controller (`#7760 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(joy_controller): check for nullptr messages (`#7540 `_) -* refactor(control)!: refactor directory structures of the control interface nodes (`#7528 `_) +* fix(joy_controller): check for nullptr messages (`#7540 `_) +* refactor(control)!: refactor directory structures of the control interface nodes (`#7528 `_) * external_cmd_selector * joy_controller --------- -* refactor(joy_controller)!: prefix package and namespace with autoware (`#7382 `_) +* refactor(joy_controller)!: prefix package and namespace with autoware (`#7382 `_) * add prefix * fix codeowner * fix @@ -24,7 +24,7 @@ Changelog for package autoware_joy_controller 0.26.0 (2024-04-03) ------------------- -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -32,9 +32,9 @@ Changelog for package autoware_joy_controller * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add autoware joy controller (`#72 `_) +* feat: add autoware joy controller (`#72 `_) * release v0.4.0 - * Support G29 controller in autoware_joy_controller (`#699 `_) + * Support G29 controller in autoware_joy_controller (`#699 `_) * Add map for G29 controller * Add new line at end of file * Change structure of JoyConverterBase class @@ -46,38 +46,38 @@ Changelog for package autoware_joy_controller * Remap AccelPedal -> accel, BrakePedal -> brake * Remove [autoware_joy_controller] from ROS_INFO Co-authored-by: Fumiya Watanabe - * Change key map for G29 controller and set deadzone parameter (`#740 `_) - * Add missing dependencies of autoware_joy_controller (`#755 `_) + * Change key map for G29 controller and set deadzone parameter (`#740 `_) + * Add missing dependencies of autoware_joy_controller (`#755 `_) * remove ROS1 packages temporarily * add sample ros2 packages * remove ROS1 packages * Revert "remove ROS1 packages temporarily" This reverts commit c98294b0b159fb98cd3091d34a626d06f29fdece. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * Rename h files to hpp (`#142 `_) + * Rename launch files to launch.xml (`#28 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Port autoware joy controller (`#124 `_) + * Port autoware joy controller (`#124 `_) * Port * Fixed package.xml * now() to use node clock * Fix include * Clear compilation warnings - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * [update to v0.8.0] autoware joy controller (`#251 `_) + * [update to v0.8.0] autoware joy controller (`#251 `_) * restore filename to original for version update - * Enable to change sensitivity (`#868 `_) - * Improve remote emergency stop (`#900 `_) + * Enable to change sensitivity (`#868 `_) + * Improve remote emergency stop (`#900 `_) * Apply format * Rename emergency to system_emergency in vehicle_cmd_gate * Add emergency stop feature to vehicle_cmd_gate @@ -112,14 +112,14 @@ Changelog for package autoware_joy_controller Co-authored-by: Fumiya Watanabe Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: jpntaxi4943-autoware - * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * remove using in global namespace (`#379 `_) - * remove using in global namespace (`#1166 `_) + * remove using in global namespace (`#379 `_) + * remove using in global namespace (`#1166 `_) * remove using in global namespace * Revert "remove using in global namespace" This reverts commit 7f120509c9e3a036a38e84883868f6036bca23ad. @@ -127,23 +127,23 @@ Changelog for package autoware_joy_controller Co-authored-by: Kenji Miyake * [autoware_joy_controller] add lint tests Co-authored-by: Kenji Miyake - * fix namespace (`#414 `_) - * add use_sim-time option (`#454 `_) - * Fix for rolling (`#1226 `_) + * fix namespace (`#414 `_) + * add use_sim-time option (`#454 `_) + * Fix for rolling (`#1226 `_) * Replace doc by description * Replace ns by push-ros-namespace - * Make control modules components (`#1262 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Remove autoware_debug_msgs from autoware_joy_controller (`#1303 `_) - * Porting remote cmd selector (`#1286 `_) - * Feature/add remote cmd selector (`#1179 `_) + * Make control modules components (`#1262 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Remove autoware_debug_msgs from autoware_joy_controller (`#1303 `_) + * Porting remote cmd selector (`#1286 `_) + * Feature/add remote cmd selector (`#1179 `_) * Add in/out args of remote_cmd_converter.launch * Change remote input topic of vehicle_cmd_gate * Add msgs for remote_cmd_selector * Add remote_cmd_selector * Rename remote_cmd_selector to external_cmd_selector * Remove VehicleCommand support in autoware_joy_controller - * Support external_cmd_source in autoware_joy_controller.launch (`#1194 `_) + * Support external_cmd_source in autoware_joy_controller.launch (`#1194 `_) * Fix porting miss * fix missing function * modify xml format @@ -158,7 +158,7 @@ Changelog for package autoware_joy_controller * Change default mode of autoware_joy_controller Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake - * Ros2/create/external commands (`#1299 `_) + * Ros2/create/external commands (`#1299 `_) * add remote message * add remote commands * fix topic @@ -167,18 +167,18 @@ Changelog for package autoware_joy_controller * add external cmd instead * ToExternalComd * fix topic in joy con - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Add autoware api (`#1979 `_) - * Use EmergencyState instead of deprecated EmergencyMode (`#2030 `_) + * Add autoware api (`#1979 `_) + * Use EmergencyState instead of deprecated EmergencyMode (`#2030 `_) * Use EmergencyState instead of deprecated EmergencyMode * Use stamped type - * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -192,8 +192,8 @@ Changelog for package autoware_joy_controller * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Add selected external command API (`#2053 `_) - * submit engage with api service from joy controller (`#2320 `_) + * Add selected external command API (`#2053 `_) + * submit engage with api service from joy controller (`#2320 `_) * fix engagew with api * delete unused * fix for uncrustify @@ -201,7 +201,7 @@ Changelog for package autoware_joy_controller * some fix * revive autoware name * fix service name - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -213,14 +213,14 @@ Changelog for package autoware_joy_controller * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * port autoware joy controller (`#588 `_) + * Add COLCON_IGNORE (`#500 `_) + * port autoware joy controller (`#588 `_) * port autoware joy controller * fix compile error * use odometry instead of twist * update launch Co-authored-by: Takayuki Murooka - * update README.md in autoware_joy_controller (`#593 `_) + * update README.md in autoware_joy_controller (`#593 `_) * update README.md * update README.md * fix typo diff --git a/control/autoware_lane_departure_checker/CHANGELOG.rst b/control/autoware_lane_departure_checker/CHANGELOG.rst index 3c9f07f840c59..9c8eccb587208 100644 --- a/control/autoware_lane_departure_checker/CHANGELOG.rst +++ b/control/autoware_lane_departure_checker/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package autoware_lane_departure_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(lane_departure_checker): add tests for createVehicleFootprints (`#8928 `_) +* test(lane_departure_checker): add tests for createVehicleFootprints (`#8928 `_) * move createVehicleFootprints() to seperate files * add tests for createVehicleFootprints() --------- -* test(lane_departure_checker): add tests for resampleTrajectory (`#8895 `_) +* test(lane_departure_checker): add tests for resampleTrajectory (`#8895 `_) * move resampleTrajectory() to separate file * add tests for resampleTrajectory() --------- -* test(lane_departure_checker): add tests for cutTrajectory (`#8887 `_) +* test(lane_departure_checker): add tests for cutTrajectory (`#8887 `_) * move cutTrajectory() to separate file * add test for cutTrajectory() --------- -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) +* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) * remove redundant fused lanelet calculation * remove unnecessary change * add new function @@ -29,22 +29,22 @@ Changelog for package autoware_lane_departure_checker * add comment for better understanding * fix cppcheck --------- -* fix(autoware_lane_departure_checker): not to show error message "trajectory deviation is too large" during manual driving (`#8404 `_) +* fix(autoware_lane_departure_checker): not to show error message "trajectory deviation is too large" during manual driving (`#8404 `_) * update: update not to show error message "trajectory deviation is too large" during manual driving * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(lane_departure_checker): fix uninitialized variables (`#8451 `_) +* fix(lane_departure_checker): fix uninitialized variables (`#8451 `_) fix(lane_departure_checker): fix uninitialized_variables -* feat(start_planner): add time_keeper (`#8254 `_) +* feat(start_planner): add time_keeper (`#8254 `_) * feat(start_planner): add time_keeper * fix * fix * fix shadow variables --------- -* fix(autoware_lane_departure_checker): fix shadowVariable (`#7931 `_) +* fix(autoware_lane_departure_checker): fix shadowVariable (`#7931 `_) fix:shadowVariable -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -53,21 +53,21 @@ Changelog for package autoware_lane_departure_checker Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(autoware_lane_departure_checker)!: rename directory name (`#7410 `_) +* refactor(autoware_lane_departure_checker)!: rename directory name (`#7410 `_) * Contributors: Go Sakayori, Kosuke Takeuchi, Kyoichi Sugahara, Maxime CLEMENT, Mitsuhiro Sakamoto, T-Kimura-MM, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, Zhe Shen, kobayu858 0.26.0 (2024-04-03) diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp index 9ef803d874520..6c83f8780c93c 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp @@ -147,7 +147,8 @@ class LaneDepartureChecker PathWithLaneId cropPointsOutsideOfLanes( const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, - const size_t end_index); + const size_t end_index, std::vector & fused_lanelets_id, + std::optional & fused_lanelets_polygon); static bool isOutOfLane( const lanelet::ConstLanelets & candidate_lanelets, const LinearRing2d & vehicle_footprint); diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index a6b91c25763c5..f823988c77e4d 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -340,13 +340,21 @@ bool LaneDepartureChecker::checkPathWillLeaveLane( } PathWithLaneId LaneDepartureChecker::cropPointsOutsideOfLanes( - const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, const size_t end_index) + const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, const size_t end_index, + std::vector & fused_lanelets_id, + std::optional & fused_lanelets_polygon) { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); PathWithLaneId temp_path; - const auto fused_lanelets_polygon = getFusedLaneletPolygonForPath(lanelet_map_ptr, path); - if (path.points.empty() || !fused_lanelets_polygon) return temp_path; + + // Update the lanelet polygon for the current path + if ( + path.points.empty() || !updateFusedLaneletPolygonForPath( + lanelet_map_ptr, path, fused_lanelets_id, fused_lanelets_polygon)) { + return temp_path; + } + const auto vehicle_footprints = utils::createVehicleFootprints(path, *vehicle_info_ptr_, param_.footprint_extra_margin); diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp index 8d954517f552d..366b84a1f6131 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp @@ -252,8 +252,7 @@ bool LaneDepartureCheckerNode::isDataValid() } if (predicted_trajectory_->points.empty()) { - RCLCPP_ERROR_THROTTLE( - get_logger(), *get_clock(), 5000, "predicted_trajectory is empty. Not expected!"); + RCLCPP_DEBUG(get_logger(), "predicted_trajectory is empty. Not expected!"); return false; } diff --git a/control/autoware_mpc_lateral_controller/CHANGELOG.rst b/control/autoware_mpc_lateral_controller/CHANGELOG.rst index 91e9426ac76e5..7d32d50b1befd 100644 --- a/control/autoware_mpc_lateral_controller/CHANGELOG.rst +++ b/control/autoware_mpc_lateral_controller/CHANGELOG.rst @@ -5,51 +5,51 @@ Changelog for package autoware_mpc_lateral_controller 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* fix(autoware_mpc_lateral_controller): fix calculation method of predicted trajectory (`#9048 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* fix(autoware_mpc_lateral_controller): fix calculation method of predicted trajectory (`#9048 `_) * fix(vehicle_model): fix calculation method of predicted trajectory --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* chore(mpc_lateral_controller): consistent parameters with autoware_launch (`#8914 `_) -* chore: remove duplicate line in mpc_lateral_controller.cpp (`#8916 `_) +* chore(mpc_lateral_controller): consistent parameters with autoware_launch (`#8914 `_) +* chore: remove duplicate line in mpc_lateral_controller.cpp (`#8916 `_) remove duplicate line in mpc_lateral_controller.cpp -* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) +* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) * feat: enable delayed initial state for predicted trajectory * feat: enable debug publishing of predicted and resampled reference trajectories --------- -* fix(autoware_mpc_lateral_controller): fix cppcheck warnings (`#8149 `_) +* fix(autoware_mpc_lateral_controller): fix cppcheck warnings (`#8149 `_) * fix(autoware_mpc_lateral_controller): fix cppcheck warnings * Update control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp Co-authored-by: Takayuki Murooka --------- Co-authored-by: Takayuki Murooka -* fix(autoware_mpc_lateral_controller): add timestamp and frame ID to published trajectory (`#8164 `_) +* fix(autoware_mpc_lateral_controller): add timestamp and frame ID to published trajectory (`#8164 `_) add timestamp and frame ID to published trajectory -* fix(controller): revival of dry steering (`#7903 `_) - * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" +* fix(controller): revival of dry steering (`#7903 `_) + * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" This reverts commit 69258bd92cb8a0ff8320df9b2302db72975e027f. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- -* fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_) +* fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_) * delete steer rate limit when vel = 0 * delete unnecessary variable * pre-commit --------- -* fix(autoware_mpc_lateral_controller): relax the steering rate constraint at zero speed (`#7581 `_) +* fix(autoware_mpc_lateral_controller): relax the steering rate constraint at zero speed (`#7581 `_) * constraint for zero velocity updated * correct the comment --------- -* fix(autoware_mpc_lateral_controller): fix duplicateExpression warning (`#7542 `_) +* fix(autoware_mpc_lateral_controller): fix duplicateExpression warning (`#7542 `_) * fix(autoware_mpc_lateral_controller): fix duplicateExpression warning * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_mpc_lateral_controller): fix duplicateAssignExpression warning (`#7572 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. (`#7109 `_) +* fix(autoware_mpc_lateral_controller): fix duplicateAssignExpression warning (`#7572 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. (`#7109 `_) * align the MPC steering angle when the car is controlled manually. * update the condition for is_driving_manually * STOP mode included @@ -62,7 +62,7 @@ Changelog for package autoware_mpc_lateral_controller * unchange the unrelevant line * pre-commit --------- -* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) +* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) * mpc fail checker diagnostic added * fix some scope issues * member attribute added. @@ -79,27 +79,27 @@ Changelog for package autoware_mpc_lateral_controller * pre-commit --------- Co-authored-by: Takamasa Horibe -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) +* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) * rename trajectory follower base package * update dependencies and includes * fix formats --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -134,7 +134,7 @@ Changelog for package autoware_mpc_lateral_controller * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(mpc_lateral_controller, trajectory_follower_node)!: prefix package and namespace with autoware (`#7306 `_) +* refactor(mpc_lateral_controller, trajectory_follower_node)!: prefix package and namespace with autoware (`#7306 `_) * add the prefix to the folder * named to autoware_mpc_lateral_controller * rename the folder in the include diff --git a/control/autoware_mpc_lateral_controller/CMakeLists.txt b/control/autoware_mpc_lateral_controller/CMakeLists.txt index dff85d70419a1..b03fa84e4b116 100644 --- a/control/autoware_mpc_lateral_controller/CMakeLists.txt +++ b/control/autoware_mpc_lateral_controller/CMakeLists.txt @@ -4,6 +4,8 @@ project(autoware_mpc_lateral_controller) find_package(autoware_cmake REQUIRED) autoware_package() +find_package(fmt REQUIRED) + ament_auto_add_library(steering_offset_lib SHARED src/steering_offset/steering_offset.cpp ) diff --git a/control/autoware_mpc_lateral_controller/README.md b/control/autoware_mpc_lateral_controller/README.md index 1b3af44343208..7585e7db140b3 100644 --- a/control/autoware_mpc_lateral_controller/README.md +++ b/control/autoware_mpc_lateral_controller/README.md @@ -75,6 +75,12 @@ Return LateralOutput which contains the following to the controller node - LateralSyncData - steer angle convergence +Publish the following messages. + +| Name | Type | Description | +| ------------------------------- | ---------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `~/output/predicted_trajectory` | autoware_planning_msgs::Trajectory | Predicted trajectory calculated by MPC. The trajectory size will be empty when the controller is in an emergency such as too large deviation from the planning trajectory. | + ### MPC class The `MPC` class (defined in `mpc.hpp`) provides the interface with the MPC algorithm. diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp index 36a79cc95728e..eedac39f37bd4 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp @@ -20,6 +20,7 @@ #include "autoware/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" #include "autoware/mpc_lateral_controller/steering_predictor.hpp" #include "autoware/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#include "autoware/trajectory_follower_base/control_horizon.hpp" #include "rclcpp/rclcpp.hpp" #include "autoware_control_msgs/msg/lateral.hpp" @@ -38,6 +39,7 @@ namespace autoware::motion::control::mpc_lateral_controller { +using autoware::motion::control::trajectory_follower::LateralHorizon; using autoware_control_msgs::msg::Lateral; using autoware_planning_msgs::msg::Trajectory; using autoware_vehicle_msgs::msg::SteeringReport; @@ -189,6 +191,12 @@ struct MPCMatrix MPCMatrix() = default; }; +struct ResultWithReason +{ + bool result{false}; + std::string reason{""}; +}; + /** * MPC-based waypoints follower class * @brief calculate control command to follow reference waypoints @@ -230,7 +238,7 @@ class MPC * @param current_kinematics The current vehicle kinematics. * @return A pair of a boolean flag indicating success and the MPC data. */ - std::pair getData( + std::pair getData( const MPCTrajectory & trajectory, const SteeringReport & current_steer, const Odometry & current_kinematics); @@ -270,7 +278,7 @@ class MPC * @param [in] current_velocity current ego velocity * @return A pair of a boolean flag indicating success and the optimized input vector. */ - std::pair executeOptimization( + std::pair executeOptimization( const MPCMatrix & mpc_matrix, const VectorXd & x0, const double prediction_dt, const MPCTrajectory & trajectory, const double current_velocity); @@ -281,7 +289,7 @@ class MPC * @param input The input trajectory. * @return A pair of a boolean flag indicating success and the resampled trajectory. */ - std::pair resampleMPCTrajectoryByTime( + std::pair resampleMPCTrajectoryByTime( const double start_time, const double prediction_dt, const MPCTrajectory & input) const; /** @@ -448,9 +456,10 @@ class MPC * @param diagnostic Diagnostic data for debugging purposes. * @return True if the MPC calculation is successful, false otherwise. */ - bool calculateMPC( + ResultWithReason calculateMPC( const SteeringReport & current_steer, const Odometry & current_kinematics, Lateral & ctrl_cmd, - Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic); + Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic, + LateralHorizon & ctrl_cmd_horizon); /** * @brief Set the reference trajectory to be followed. diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp index 09399d1fa2dce..fe68d150b5b9a 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp @@ -22,6 +22,7 @@ #include "autoware/trajectory_follower_base/lateral_controller_base.hpp" #include "rclcpp/rclcpp.hpp" +#include #include #include "autoware_control_msgs/msg/lateral.hpp" @@ -49,6 +50,7 @@ using autoware_vehicle_msgs::msg::SteeringReport; using nav_msgs::msg::Odometry; using tier4_debug_msgs::msg::Float32MultiArrayStamped; using tier4_debug_msgs::msg::Float32Stamped; +using trajectory_follower::LateralHorizon; class MpcLateralController : public trajectory_follower::LateralControllerBase { @@ -94,7 +96,7 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase bool m_keep_steer_control_until_converged; // MPC solver checker. - bool m_is_mpc_solved{true}; + ResultWithReason m_mpc_solved_status{true}; // trajectory buffer for detecting new trajectory std::deque m_trajectory_buffer; @@ -214,6 +216,13 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase */ Lateral createCtrlCmdMsg(const Lateral & ctrl_cmd); + /** + * @brief Create the control command horizon message. + * @param ctrl_cmd_horizon Control command horizon to be created. + * @return Created control command horizon. + */ + LateralHorizon createCtrlCmdHorizonMsg(const LateralHorizon & ctrl_cmd_horizon) const; + /** * @brief Publish the predicted future trajectory. * @param predicted_traj Predicted future trajectory to be published. diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml index ec7be46fb9f00..a965343ad3e98 100644 --- a/control/autoware_mpc_lateral_controller/package.xml +++ b/control/autoware_mpc_lateral_controller/package.xml @@ -7,6 +7,7 @@ Takamasa Horibe Takayuki Murooka + Kyoichi Sugahara Apache 2.0 diff --git a/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp index 9ed65536da2c6..4a056c351208b 100644 --- a/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp +++ b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp @@ -125,8 +125,11 @@ bool filt_vector(const int num, std::vector & u) } for (int j = -num_tmp; j <= num_tmp; ++j) { - tmp += u[static_cast(i + j)]; - ++count; + int index = i + j; + if (index >= 0 && index < static_cast(u.size())) { + tmp += u[static_cast(index)]; + ++count; + } } filtered_u[static_cast(i)] = tmp / count; } diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp index 0f350dc40ad0e..3c3496080b597 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp @@ -20,6 +20,8 @@ #include "autoware/universe_utils/math/unit_conversion.hpp" #include "rclcpp/rclcpp.hpp" +#include + #include #include @@ -37,9 +39,10 @@ MPC::MPC(rclcpp::Node & node) node.create_publisher("~/debug/resampled_reference_trajectory", rclcpp::QoS(1)); } -bool MPC::calculateMPC( +ResultWithReason MPC::calculateMPC( const SteeringReport & current_steer, const Odometry & current_kinematics, Lateral & ctrl_cmd, - Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic) + Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic, + LateralHorizon & ctrl_cmd_horizon) { // since the reference trajectory does not take into account the current velocity of the ego // vehicle, it needs to calculate the trajectory velocity considering the longitudinal dynamics. @@ -47,10 +50,10 @@ bool MPC::calculateMPC( applyVelocityDynamicsFilter(m_reference_trajectory, current_kinematics); // get the necessary data - const auto [success_data, mpc_data] = + const auto [get_data_result, mpc_data] = getData(reference_trajectory, current_steer, current_kinematics); - if (!success_data) { - return fail_warn_throttle("fail to get MPC Data. Stop MPC."); + if (!get_data_result.result) { + return ResultWithReason{false, fmt::format("getting MPC Data ({}).", get_data_result.reason)}; } // calculate initial state of the error dynamics @@ -60,7 +63,7 @@ bool MPC::calculateMPC( const auto [success_delay, x0_delayed] = updateStateForDelayCompensation(reference_trajectory, mpc_data.nearest_time, x0); if (!success_delay) { - return fail_warn_throttle("delay compensation failed. Stop MPC."); + return ResultWithReason{false, "delay compensation."}; } // resample reference trajectory with mpc sampling time @@ -68,21 +71,22 @@ bool MPC::calculateMPC( const double prediction_dt = getPredictionDeltaTime(mpc_start_time, reference_trajectory, current_kinematics); - const auto [success_resample, mpc_resampled_ref_trajectory] = + const auto [resample_result, mpc_resampled_ref_trajectory] = resampleMPCTrajectoryByTime(mpc_start_time, prediction_dt, reference_trajectory); - if (!success_resample) { - return fail_warn_throttle("trajectory resampling failed. Stop MPC."); + if (!resample_result.result) { + return ResultWithReason{ + false, fmt::format("trajectory resampling ({}).", resample_result.reason)}; } // generate mpc matrix : predict equation Xec = Aex * x0 + Bex * Uex + Wex const auto mpc_matrix = generateMPCMatrix(mpc_resampled_ref_trajectory, prediction_dt); // solve Optimization problem - const auto [success_opt, Uex] = executeOptimization( + const auto [opt_result, Uex] = executeOptimization( mpc_matrix, x0_delayed, prediction_dt, mpc_resampled_ref_trajectory, current_kinematics.twist.twist.linear.x); - if (!success_opt) { - return fail_warn_throttle("optimization failed. Stop MPC."); + if (!opt_result.result) { + return ResultWithReason{false, fmt::format("optimization failure ({}).", opt_result.reason)}; } // apply filters for the input limitation and low pass filter @@ -124,7 +128,20 @@ bool MPC::calculateMPC( diagnostic = generateDiagData(reference_trajectory, mpc_data, mpc_matrix, ctrl_cmd, Uex, current_kinematics); - return true; + // create LateralHorizon command + ctrl_cmd_horizon.time_step_ms = prediction_dt * 1000.0; + ctrl_cmd_horizon.controls.clear(); + ctrl_cmd_horizon.controls.push_back(ctrl_cmd); + for (auto it = std::next(Uex.begin()); it != Uex.end(); ++it) { + Lateral lateral{}; + lateral.steering_tire_angle = static_cast(std::clamp(*it, -m_steer_lim, m_steer_lim)); + lateral.steering_tire_rotation_rate = + (lateral.steering_tire_angle - ctrl_cmd_horizon.controls.back().steering_tire_angle) / + m_ctrl_period; + ctrl_cmd_horizon.controls.push_back(lateral); + } + + return ResultWithReason{true}; } Float32MultiArrayStamped MPC::generateDiagData( @@ -264,7 +281,7 @@ void MPC::resetPrevResult(const SteeringReport & current_steer) m_raw_steer_cmd_pprev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f); } -std::pair MPC::getData( +std::pair MPC::getData( const MPCTrajectory & traj, const SteeringReport & current_steer, const Odometry & current_kinematics) { @@ -274,8 +291,7 @@ std::pair MPC::getData( if (!MPCUtils::calcNearestPoseInterp( traj, current_pose, &(data.nearest_pose), &(data.nearest_idx), &(data.nearest_time), ego_nearest_dist_threshold, ego_nearest_yaw_threshold)) { - warn_throttle("calculateMPC: error in calculating nearest pose. stop mpc."); - return {false, MPCData{}}; + return {ResultWithReason{false, "error in calculating nearest pose"}, MPCData{}}; } // get data @@ -290,14 +306,12 @@ std::pair MPC::getData( // check error limit const double dist_err = calcDistance2d(current_pose, data.nearest_pose); if (dist_err > m_admissible_position_error) { - warn_throttle("Too large position error: %fm > %fm", dist_err, m_admissible_position_error); - return {false, MPCData{}}; + return {ResultWithReason{false, "too large position error"}, MPCData{}}; } // check yaw error limit if (std::fabs(data.yaw_err) > m_admissible_yaw_error_rad) { - warn_throttle("Too large yaw error: %f > %f", data.yaw_err, m_admissible_yaw_error_rad); - return {false, MPCData{}}; + return {ResultWithReason{false, "too large yaw error"}, MPCData{}}; } // check trajectory time length @@ -305,13 +319,12 @@ std::pair MPC::getData( m_param.min_prediction_length / static_cast(m_param.prediction_horizon - 1); auto end_time = data.nearest_time + m_param.input_delay + m_ctrl_period + max_prediction_time; if (end_time > traj.relative_time.back()) { - warn_throttle("path is too short for prediction."); - return {false, MPCData{}}; + return {ResultWithReason{false, "path is too short for prediction."}, MPCData{}}; } - return {true, data}; + return {ResultWithReason{true}, data}; } -std::pair MPC::resampleMPCTrajectoryByTime( +std::pair MPC::resampleMPCTrajectoryByTime( const double ts, const double prediction_dt, const MPCTrajectory & input) const { MPCTrajectory output; @@ -320,8 +333,7 @@ std::pair MPC::resampleMPCTrajectoryByTime( mpc_time_v.push_back(ts + i * prediction_dt); } if (!MPCUtils::linearInterpMPCTrajectory(input.relative_time, input, mpc_time_v, output)) { - warn_throttle("calculateMPC: mpc resample error. stop mpc calculation. check code!"); - return {false, {}}; + return {ResultWithReason{false, "mpc resample error"}, {}}; } // Publish resampled reference trajectory for debug purpose. if (m_publish_debug_trajectories) { @@ -330,7 +342,7 @@ std::pair MPC::resampleMPCTrajectoryByTime( converted_output.header.frame_id = "map"; m_debug_resampled_reference_trajectory_pub->publish(converted_output); } - return {true, output}; + return {ResultWithReason{true}, output}; } VectorXd MPC::getInitialState(const MPCData & data) @@ -497,7 +509,6 @@ MPCMatrix MPC::generateMPCMatrix( // update mpc matrix int idx_x_i = i * DIM_X; - int idx_x_i_prev = (i - 1) * DIM_X; int idx_u_i = i * DIM_U; int idx_y_i = i * DIM_Y; if (i == 0) { @@ -505,6 +516,7 @@ MPCMatrix MPC::generateMPCMatrix( m.Bex.block(0, 0, DIM_X, DIM_U) = Bd; m.Wex.block(0, 0, DIM_X, 1) = Wd; } else { + int idx_x_i_prev = (i - 1) * DIM_X; m.Aex.block(idx_x_i, 0, DIM_X, DIM_X) = Ad * m.Aex.block(idx_x_i_prev, 0, DIM_X, DIM_X); for (int j = 0; j < i; ++j) { int idx_u_j = j * DIM_U; @@ -563,15 +575,14 @@ MPCMatrix MPC::generateMPCMatrix( * ~~~ * [ -au_lim * dt ] < [uN-uN-1] < [ au_lim * dt ] (*N... DIM_U) */ -std::pair MPC::executeOptimization( +std::pair MPC::executeOptimization( const MPCMatrix & m, const VectorXd & x0, const double prediction_dt, const MPCTrajectory & traj, const double current_velocity) { VectorXd Uex; if (!isValid(m)) { - warn_throttle("model matrix is invalid. stop MPC."); - return {false, {}}; + return {ResultWithReason{false, "invalid model matrix"}, {}}; } const int DIM_U_N = m_param.prediction_horizon * m_vehicle_model_ptr->getDimU(); @@ -608,8 +619,7 @@ std::pair MPC::executeOptimization( bool solve_result = m_qpsolver_ptr->solve(H, f.transpose(), A, lb, ub, lbA, ubA, Uex); auto t_end = std::chrono::system_clock::now(); if (!solve_result) { - warn_throttle("qp solver error"); - return {false, {}}; + return {ResultWithReason{false, "qp solver error"}, {}}; } { @@ -618,10 +628,9 @@ std::pair MPC::executeOptimization( } if (Uex.array().isNaN().any()) { - warn_throttle("model Uex includes NaN, stop MPC."); - return {false, {}}; + return {ResultWithReason{false, "model Uex including NaN"}, {}}; } - return {true, Uex}; + return {ResultWithReason{true}, Uex}; } void MPC::addSteerWeightR(const double prediction_dt, MatrixXd & R) const diff --git a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp index f4ba74d74f246..76e5b4737e418 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp @@ -235,20 +235,17 @@ std::shared_ptr MpcLateralController::createSteerOffset void MpcLateralController::setStatus(diagnostic_updater::DiagnosticStatusWrapper & stat) { - if (m_is_mpc_solved) { + if (m_mpc_solved_status.result) { stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "MPC succeeded."); } else { - const std::string error_msg = "The MPC solver failed. Call MRM to stop the car."; + const std::string error_msg = "MPC failed due to " + m_mpc_solved_status.reason; stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, error_msg); } } void MpcLateralController::setupDiag() { - auto & d = diag_updater_; - d->setHardwareID("mpc_lateral_controller"); - - d->add("MPC_solve_checker", [&](auto & stat) { setStatus(stat); }); + diag_updater_->add("MPC_solve_checker", [&](auto & stat) { setStatus(stat); }); } trajectory_follower::LateralOutput MpcLateralController::run( @@ -276,10 +273,17 @@ trajectory_follower::LateralOutput MpcLateralController::run( m_is_ctrl_cmd_prev_initialized = true; } - const bool is_mpc_solved = m_mpc->calculateMPC( - m_current_steering, m_current_kinematic_state, ctrl_cmd, predicted_traj, debug_values); + trajectory_follower::LateralHorizon ctrl_cmd_horizon{}; + const auto mpc_solved_status = m_mpc->calculateMPC( + m_current_steering, m_current_kinematic_state, ctrl_cmd, predicted_traj, debug_values, + ctrl_cmd_horizon); - m_is_mpc_solved = is_mpc_solved; // for diagnostic updater + if ( + (m_mpc_solved_status.result == true && mpc_solved_status.result == false) || + (!mpc_solved_status.result && mpc_solved_status.reason != m_mpc_solved_status.reason)) { + RCLCPP_ERROR(logger_, "MPC failed due to %s", mpc_solved_status.reason.c_str()); + } + m_mpc_solved_status = mpc_solved_status; // for diagnostic updater diag_updater_->force_update(); @@ -288,7 +292,7 @@ trajectory_follower::LateralOutput MpcLateralController::run( // the vehicle will return to the path by re-planning the trajectory or external operation. // After the recovery, the previous value of the optimization may deviate greatly from // the actual steer angle, and it may make the optimization result unstable. - if (!is_mpc_solved || !is_under_control) { + if (!mpc_solved_status.result || !is_under_control) { m_mpc->resetPrevResult(m_current_steering); } else { setSteeringToHistory(ctrl_cmd); @@ -304,9 +308,13 @@ trajectory_follower::LateralOutput MpcLateralController::run( publishPredictedTraj(predicted_traj); publishDebugValues(debug_values); - const auto createLateralOutput = [this](const auto & cmd, const bool is_mpc_solved) { + const auto createLateralOutput = + [this]( + const auto & cmd, const bool is_mpc_solved, + const auto & cmd_horizon) -> trajectory_follower::LateralOutput { trajectory_follower::LateralOutput output; output.control_cmd = createCtrlCmdMsg(cmd); + output.control_cmd_horizon = createCtrlCmdHorizonMsg(cmd_horizon); // To be sure current steering of the vehicle is desired steering angle, we need to check // following conditions. // 1. At the last loop, mpc should be solved because command should be optimized output. @@ -325,16 +333,15 @@ trajectory_follower::LateralOutput MpcLateralController::run( } // Use previous command value as previous raw steer command m_mpc->m_raw_steer_cmd_prev = m_ctrl_cmd_prev.steering_tire_angle; - return createLateralOutput(m_ctrl_cmd_prev, false); + return createLateralOutput(m_ctrl_cmd_prev, false, ctrl_cmd_horizon); } - if (!is_mpc_solved) { - warn_throttle("MPC is not solved. publish 0 velocity."); + if (!mpc_solved_status.result) { ctrl_cmd = getStopControlCommand(); } m_ctrl_cmd_prev = ctrl_cmd; - return createLateralOutput(ctrl_cmd, is_mpc_solved); + return createLateralOutput(ctrl_cmd, mpc_solved_status.result, ctrl_cmd_horizon); } bool MpcLateralController::isSteerConverged(const Lateral & cmd) const @@ -465,6 +472,17 @@ Lateral MpcLateralController::createCtrlCmdMsg(const Lateral & ctrl_cmd) return out; } +LateralHorizon MpcLateralController::createCtrlCmdHorizonMsg( + const LateralHorizon & ctrl_cmd_horizon) const +{ + auto out = ctrl_cmd_horizon; + const auto now = clock_->now(); + for (auto & cmd : out.controls) { + cmd.stamp = now; + } + return out; +} + void MpcLateralController::publishPredictedTraj(Trajectory & predicted_traj) const { predicted_traj.header.stamp = clock_->now(); diff --git a/control/autoware_mpc_lateral_controller/test/test_mpc.cpp b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp index c4a67552a6083..ccc91d0e7751b 100644 --- a/control/autoware_mpc_lateral_controller/test/test_mpc.cpp +++ b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp @@ -21,6 +21,8 @@ #include "gtest/gtest.h" #include "rclcpp/rclcpp.hpp" +#include + #include "autoware_control_msgs/msg/lateral.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" @@ -41,6 +43,7 @@ namespace autoware::motion::control::mpc_lateral_controller { +using autoware::motion::control::trajectory_follower::LateralHorizon; using autoware_control_msgs::msg::Lateral; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; @@ -209,10 +212,15 @@ TEST_F(MPCTest, InitializeAndCalculate) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, InitializeAndCalculateRightTurn) @@ -241,10 +249,15 @@ TEST_F(MPCTest, InitializeAndCalculateRightTurn) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_LT(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_LT(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, OsqpCalculate) @@ -268,10 +281,15 @@ TEST_F(MPCTest, OsqpCalculate) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - EXPECT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, OsqpCalculateRightTurn) @@ -296,10 +314,15 @@ TEST_F(MPCTest, OsqpCalculateRightTurn) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_LT(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_LT(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, KinematicsNoDelayCalculate) @@ -326,10 +349,15 @@ TEST_F(MPCTest, KinematicsNoDelayCalculate) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, KinematicsNoDelayCalculateRightTurn) @@ -357,10 +385,15 @@ TEST_F(MPCTest, KinematicsNoDelayCalculateRightTurn) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_LT(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_LT(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, DynamicCalculate) @@ -382,10 +415,15 @@ TEST_F(MPCTest, DynamicCalculate) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, MultiSolveWithBuffer) @@ -406,24 +444,41 @@ TEST_F(MPCTest, MultiSolveWithBuffer) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, FailureCases) @@ -446,11 +501,16 @@ TEST_F(MPCTest, FailureCases) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_far, default_velocity); - EXPECT_FALSE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_FALSE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); // Calculate MPC with a fast velocity to make the prediction go further than the reference path - EXPECT_FALSE(mpc->calculateMPC( - neutral_steer, makeOdometry(pose_far, default_velocity + 10.0), ctrl_cmd, pred_traj, diag)); + EXPECT_FALSE(mpc + ->calculateMPC( + neutral_steer, makeOdometry(pose_far, default_velocity + 10.0), ctrl_cmd, + pred_traj, diag, ctrl_cmd_horizon) + .result); } } // namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/autoware_obstacle_collision_checker/CHANGELOG.rst b/control/autoware_obstacle_collision_checker/CHANGELOG.rst index 0e3619bec74b2..5cca4c07048b1 100644 --- a/control/autoware_obstacle_collision_checker/CHANGELOG.rst +++ b/control/autoware_obstacle_collision_checker/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_obstacle_collision_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) +* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) * Contributors: Maxime CLEMENT, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst index df8fce61cd07c..3412c651fc4a7 100644 --- a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst +++ b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_operation_mode_transition_manager 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* fix(autoware_operation_mode_transition_manager): fix funcArgNamesDifferent (`#7997 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix(autoware_operation_mode_transition_manager): fix funcArgNamesDifferent (`#7997 `_) fix: funcArgNamesDifferent_con-1 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(operation mode manager): add nullptr check in onTimer (`#7446 `_) -* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) +* fix(operation mode manager): add nullptr check in onTimer (`#7446 `_) +* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) * RT1-6682 add prefix package and namespace with autoware\_ * RT1-6682 fix package's description --------- diff --git a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst index 3c6b82ce1e270..b246fe3593ad5 100644 --- a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst +++ b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst @@ -5,58 +5,58 @@ Changelog for package autoware_pid_longitudinal_controller 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(pid_longitudinal_controller): fix the same point error (`#8758 `_) +* fix(pid_longitudinal_controller): fix the same point error (`#8758 `_) * fix same point -* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) -* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) +* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) +* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) * reset and re-apply refactoring * style(pre-commit): autofix * . * . --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) +* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) change diff limit structure change stopped condition define a new param -* fix(controller): revival of dry steering (`#7903 `_) - * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" +* fix(controller): revival of dry steering (`#7903 `_) + * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" This reverts commit 69258bd92cb8a0ff8320df9b2302db72975e027f. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- -* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) +* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) * diag_updater\_ added in PID * correct the pointer form * pre-commit --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) +* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) * rename trajectory follower base package * update dependencies and includes * fix formats --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -91,7 +91,7 @@ Changelog for package autoware_pid_longitudinal_controller * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(pid_longitudinal_controller)!: prefix package and namespace with autoware (`#7383 `_) +* refactor(pid_longitudinal_controller)!: prefix package and namespace with autoware (`#7383 `_) * add prefix * fix * fix trajectory follower node param diff --git a/control/autoware_pid_longitudinal_controller/CMakeLists.txt b/control/autoware_pid_longitudinal_controller/CMakeLists.txt index 4edba06ccee87..d0fef75a1154d 100644 --- a/control/autoware_pid_longitudinal_controller/CMakeLists.txt +++ b/control/autoware_pid_longitudinal_controller/CMakeLists.txt @@ -4,6 +4,8 @@ project(autoware_pid_longitudinal_controller) find_package(autoware_cmake REQUIRED) autoware_package() +find_package(fmt REQUIRED) + set(PID_LON_CON_LIB ${PROJECT_NAME}_lib) ament_auto_add_library(${PID_LON_CON_LIB} SHARED DIRECTORY src diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp index 1d4192d51d98d..7daf3013bab4a 100644 --- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp @@ -254,6 +254,12 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro void setupDiagnosticUpdater(); void checkControlState(diagnostic_updater::DiagnosticStatusWrapper & stat); + struct ResultWithReason + { + bool result{false}; + std::string reason{""}; + }; + /** * @brief set current and previous velocity with received message * @param [in] msg current state message @@ -298,6 +304,13 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro */ Motion calcEmergencyCtrlCmd(const double dt); + /** + * @brief change control state + * @param [in] new state + * @param [in] reason to change control state + */ + void changeControlState(const ControlState & control_state, const std::string & reason = ""); + /** * @brief update control state according to the current situation * @param [in] control_data control data diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml index 2e9ca5375932b..b4bf580e133e7 100644 --- a/control/autoware_pid_longitudinal_controller/package.xml +++ b/control/autoware_pid_longitudinal_controller/package.xml @@ -8,6 +8,7 @@ Takamasa Horibe Takayuki Murooka Mamoru Sobue + Yuki Takagi Apache 2.0 diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index e3cdc4505c037..7f6da35527290 100644 --- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -18,6 +18,8 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/normalization.hpp" +#include + #include #include #include @@ -424,7 +426,8 @@ trajectory_follower::LongitudinalOutput PidLongitudinalController::run( // self pose is far from trajectory if (control_data.is_far_from_trajectory) { if (m_enable_large_tracking_error_emergency) { - m_control_state = ControlState::EMERGENCY; // update control state + // update control state + changeControlState(ControlState::EMERGENCY, "the tracking error is too large"); } const Motion raw_ctrl_cmd = calcEmergencyCtrlCmd(control_data.dt); // calculate control command m_prev_raw_ctrl_cmd = raw_ctrl_cmd; @@ -433,6 +436,8 @@ trajectory_follower::LongitudinalOutput PidLongitudinalController::run( publishDebugData(raw_ctrl_cmd, control_data); // publish debug data trajectory_follower::LongitudinalOutput output; output.control_cmd = cmd_msg; + output.control_cmd_horizon.controls.push_back(cmd_msg); + output.control_cmd_horizon.time_step_ms = 0.0; return output; } @@ -442,11 +447,15 @@ trajectory_follower::LongitudinalOutput PidLongitudinalController::run( // calculate control command const Motion ctrl_cmd = calcCtrlCmd(control_data); - // publish control command + // create control command const auto cmd_msg = createCtrlCmdMsg(ctrl_cmd, control_data.current_motion.vel); trajectory_follower::LongitudinalOutput output; output.control_cmd = cmd_msg; + // create control command horizon + output.control_cmd_horizon.controls.push_back(cmd_msg); + output.control_cmd_horizon.time_step_ms = 0.0; + // publish debug data publishDebugData(ctrl_cmd, control_data); @@ -600,13 +609,23 @@ PidLongitudinalController::Motion PidLongitudinalController::calcEmergencyCtrlCm longitudinal_utils::applyDiffLimitFilter(raw_ctrl_cmd.acc, m_prev_raw_ctrl_cmd.acc, dt, p.jerk); m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_JERK_LIMITED, raw_ctrl_cmd.acc); - RCLCPP_ERROR_THROTTLE( - logger_, *clock_, 3000, "[Emergency stop] vel: %3.3f, acc: %3.3f", raw_ctrl_cmd.vel, - raw_ctrl_cmd.acc); - return raw_ctrl_cmd; } +void PidLongitudinalController::changeControlState( + const ControlState & control_state, const std::string & reason) +{ + if (control_state != m_control_state) { + RCLCPP_DEBUG_STREAM( + logger_, + "controller state changed: " << toStr(m_control_state) << " -> " << toStr(control_state)); + if (control_state == ControlState::EMERGENCY) { + RCLCPP_ERROR(logger_, "Emergency Stop since %s", reason.c_str()); + } + } + m_control_state = control_state; +} + void PidLongitudinalController::updateControlState(const ControlData & control_data) { const double current_vel = control_data.current_motion.vel; @@ -656,19 +675,16 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // ========================================================================================== const double current_vel_cmd = std::fabs( control_data.interpolated_traj.points.at(control_data.nearest_idx).longitudinal_velocity_mps); - const bool emergency_condition = m_enable_overshoot_emergency && - stop_dist < -p.emergency_state_overshoot_stop_dist && - current_vel_cmd < vel_epsilon; - const bool has_nonzero_target_vel = std::abs(current_vel_cmd) > 1.0e-5; - - const auto changeState = [this](const auto s) { - if (s != m_control_state) { - RCLCPP_DEBUG_STREAM( - logger_, "controller state changed: " << toStr(m_control_state) << " -> " << toStr(s)); + const auto emergency_condition = [&]() { + if ( + m_enable_overshoot_emergency && stop_dist < -p.emergency_state_overshoot_stop_dist && + current_vel_cmd < vel_epsilon) { + return ResultWithReason{ + true, fmt::format("the target velocity {} is less than {}", current_vel_cmd, vel_epsilon)}; } - m_control_state = s; - return; - }; + return ResultWithReason{false}; + }(); + const bool has_nonzero_target_vel = std::abs(current_vel_cmd) > 1.0e-5; const auto debug_msg_once = [this](const auto & s) { RCLCPP_DEBUG_ONCE(logger_, "%s", s); }; @@ -688,11 +704,11 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // transit state // in DRIVE state if (m_control_state == ControlState::DRIVE) { - if (emergency_condition) { - return changeState(ControlState::EMERGENCY); + if (emergency_condition.result) { + return changeControlState(ControlState::EMERGENCY, emergency_condition.reason); } if (!is_under_control && stopped_condition) { - return changeState(ControlState::STOPPED); + return changeControlState(ControlState::STOPPED); } if (m_enable_smooth_stop) { @@ -703,11 +719,11 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d control_data.stop_dist - 0.5 * (pred_vel_in_target + current_vel) * m_delay_compensation_time; m_smooth_stop.init(pred_vel_in_target, pred_stop_dist); - return changeState(ControlState::STOPPING); + return changeControlState(ControlState::STOPPING); } } else { if (stopped_condition && !departure_condition_from_stopped) { - return changeState(ControlState::STOPPED); + return changeControlState(ControlState::STOPPED); } } return; @@ -715,11 +731,11 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // in STOPPING state if (m_control_state == ControlState::STOPPING) { - if (emergency_condition) { - return changeState(ControlState::EMERGENCY); + if (emergency_condition.result) { + return changeControlState(ControlState::EMERGENCY, emergency_condition.reason); } if (stopped_condition) { - return changeState(ControlState::STOPPED); + return changeControlState(ControlState::STOPPED); } if (departure_condition_from_stopping) { @@ -727,7 +743,7 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d m_lpf_vel_error->reset(0.0); // prevent the car from taking a long time to start to move m_prev_ctrl_cmd.acc = std::max(0.0, m_prev_raw_ctrl_cmd.acc); - return changeState(ControlState::DRIVE); + return changeControlState(ControlState::DRIVE); } return; } @@ -773,7 +789,7 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d m_pid_vel.reset(); m_lpf_vel_error->reset(0.0); m_lpf_acc_error->reset(0.0); - return changeState(ControlState::DRIVE); + return changeControlState(ControlState::DRIVE); } return; @@ -782,13 +798,13 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // in EMERGENCY state if (m_control_state == ControlState::EMERGENCY) { if (stopped_condition) { - return changeState(ControlState::STOPPED); + return changeControlState(ControlState::STOPPED); } - if (!emergency_condition) { + if (!emergency_condition.result) { if (!is_under_control) { // NOTE: On manual driving, no need stopping to exit the emergency. - return changeState(ControlState::DRIVE); + return changeControlState(ControlState::DRIVE); } } return; @@ -1207,7 +1223,6 @@ void PidLongitudinalController::updateDebugVelAcc(const ControlData & control_da void PidLongitudinalController::setupDiagnosticUpdater() { - diag_updater_->setHardwareID("autoware_pid_longitudinal_controller"); diag_updater_->add("control_state", this, &PidLongitudinalController::checkControlState); } diff --git a/control/autoware_pure_pursuit/CHANGELOG.rst b/control/autoware_pure_pursuit/CHANGELOG.rst index 353c5c25857ad..2c60203858a32 100644 --- a/control/autoware_pure_pursuit/CHANGELOG.rst +++ b/control/autoware_pure_pursuit/CHANGELOG.rst @@ -5,31 +5,31 @@ Changelog for package autoware_pure_pursuit 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(pure_pursuit): add autoware\_ prefix in launch file (`#8687 `_) -* fix(autoware_pure_pursuit): fix unusedFunction (`#8552 `_) +* fix(pure_pursuit): add autoware\_ prefix in launch file (`#8687 `_) +* fix(autoware_pure_pursuit): fix unusedFunction (`#8552 `_) fix:unusedFunction -* fix(autoware_pure_pursuit): fix redundantInitialization redundantInitialization (`#8225 `_) +* fix(autoware_pure_pursuit): fix redundantInitialization redundantInitialization (`#8225 `_) * fix(autoware_pure_pursuit): fix redundantInitialization redundantInitialization * style(pre-commit): autofix * Update control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka -* fix(autoware_pure_pursuit): fix shadowVariable (`#7932 `_) +* fix(autoware_pure_pursuit): fix shadowVariable (`#7932 `_) * fix:shadowVariable * refactor: using range-based for loop --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) +* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) * RT1-6683 add autoware prefix to package and namepace * fix precommit --------- diff --git a/control/autoware_shift_decider/CHANGELOG.rst b/control/autoware_shift_decider/CHANGELOG.rst index c21e262c468c7..032398006ac94 100644 --- a/control/autoware_shift_decider/CHANGELOG.rst +++ b/control/autoware_shift_decider/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package autoware_shift_decider 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* feat(shift_decider): use polling subscriber (`#7345 `_) +* feat(shift_decider): use polling subscriber (`#7345 `_) RT1-6697 use polling subscriber -* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) +* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) * RT1-6684 add autoware prefix and namespace * RT1-6684 Revert svg This reverts commit 4e0569e4796ab432c734905fb7f2106779575e29. diff --git a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst index 4e5eb6bd8c80e..ab53787cae6e0 100644 --- a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst +++ b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_smart_mpc_trajectory_follower 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_smart_mpc_trajectory_follower): fix unusedFunction (`#8553 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix unusedFunction (`#8553 `_) fix:unusedFunction -* fix(autoware_smart_mpc_trajectory_follower): fix uninitMemberVar (`#8346 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix uninitMemberVar (`#8346 `_) fix: uninitMemberVar Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* refactor(smart_mpc_trajectory_folower): modify pacakge structure and install without setup.py (`#8268 `_) +* refactor(smart_mpc_trajectory_folower): modify pacakge structure and install without setup.py (`#8268 `_) * refactor(smart_mpc_trajectory_follower): modify pacakge structure and install without setup.py * import proxima calc * use ament_get_python_install_dir @@ -19,7 +19,7 @@ Changelog for package autoware_smart_mpc_trajectory_follower * remove str conversion from open * sort in cmake --------- -* feat(smart_mpc_trajectory_follower): enhance performance with LSTM and compensation, add compensator outside of MPC (`#7696 `_) +* feat(smart_mpc_trajectory_follower): enhance performance with LSTM and compensation, add compensator outside of MPC (`#7696 `_) * update smart mpc package * Update control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/data_collection_utils.py Co-authored-by: Kosuke Takeuchi @@ -59,14 +59,14 @@ Changelog for package autoware_smart_mpc_trajectory_follower Co-authored-by: Kosuke Takeuchi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: asei-proxima -* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) +* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) * add prefix * fix pre-commit --------- diff --git a/control/autoware_trajectory_follower_base/CHANGELOG.rst b/control/autoware_trajectory_follower_base/CHANGELOG.rst index 875f143b7e310..9b52928f063bd 100644 --- a/control/autoware_trajectory_follower_base/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_base/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package autoware_trajectory_follower_base 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) +* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) * rename trajectory follower base package * update dependencies and includes * fix formats diff --git a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/control_horizon.hpp b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/control_horizon.hpp new file mode 100644 index 0000000000000..980568cc73dc6 --- /dev/null +++ b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/control_horizon.hpp @@ -0,0 +1,42 @@ +// Copyright 2024 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__TRAJECTORY_FOLLOWER_BASE__CONTROL_HORIZON_HPP_ +#define AUTOWARE__TRAJECTORY_FOLLOWER_BASE__CONTROL_HORIZON_HPP_ + +#include "autoware_control_msgs/msg/lateral.hpp" +#include "autoware_control_msgs/msg/longitudinal.hpp" + +#include + +namespace autoware::motion::control::trajectory_follower +{ + +using autoware_control_msgs::msg::Lateral; +using autoware_control_msgs::msg::Longitudinal; + +struct LateralHorizon +{ + double time_step_ms; + std::vector controls; +}; + +struct LongitudinalHorizon +{ + double time_step_ms; + std::vector controls; +}; + +} // namespace autoware::motion::control::trajectory_follower +#endif // AUTOWARE__TRAJECTORY_FOLLOWER_BASE__CONTROL_HORIZON_HPP_ diff --git a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/lateral_controller_base.hpp b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/lateral_controller_base.hpp index 891b3982ddf49..4a3ddee78f6ad 100644 --- a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/lateral_controller_base.hpp +++ b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/lateral_controller_base.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_ #define AUTOWARE__TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_ +#include "autoware/trajectory_follower_base/control_horizon.hpp" #include "autoware/trajectory_follower_base/input_data.hpp" #include "autoware/trajectory_follower_base/sync_data.hpp" #include "rclcpp/rclcpp.hpp" @@ -24,9 +25,11 @@ #include namespace autoware::motion::control::trajectory_follower { +using autoware_control_msgs::msg::Lateral; struct LateralOutput { - autoware_control_msgs::msg::Lateral control_cmd; + Lateral control_cmd; + LateralHorizon control_cmd_horizon; LateralSyncData sync_data; }; diff --git a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/longitudinal_controller_base.hpp b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/longitudinal_controller_base.hpp index 176141572d6a8..3c440c5a6dfb6 100644 --- a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/longitudinal_controller_base.hpp +++ b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/longitudinal_controller_base.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_ #define AUTOWARE__TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_ +#include "autoware/trajectory_follower_base/control_horizon.hpp" #include "autoware/trajectory_follower_base/input_data.hpp" #include "autoware/trajectory_follower_base/sync_data.hpp" #include "rclcpp/rclcpp.hpp" @@ -25,9 +26,11 @@ namespace autoware::motion::control::trajectory_follower { +using autoware_control_msgs::msg::Longitudinal; struct LongitudinalOutput { - autoware_control_msgs::msg::Longitudinal control_cmd; + Longitudinal control_cmd; + LongitudinalHorizon control_cmd_horizon; LongitudinalSyncData sync_data; }; class LongitudinalControllerBase diff --git a/control/autoware_trajectory_follower_node/CHANGELOG.rst b/control/autoware_trajectory_follower_node/CHANGELOG.rst index 5e3926e1bafdb..cda983ab27d89 100644 --- a/control/autoware_trajectory_follower_node/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_node/CHANGELOG.rst @@ -5,39 +5,39 @@ Changelog for package autoware_trajectory_follower_node 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) +* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) * feat: enable delayed initial state for predicted trajectory * feat: enable debug publishing of predicted and resampled reference trajectories --------- -* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) -* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) +* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) +* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) * reset and re-apply refactoring * style(pre-commit): autofix * . * . --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) +* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) change diff limit structure change stopped condition define a new param -* fix(controller): revival of dry steering (`#7903 `_) - * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" +* fix(controller): revival of dry steering (`#7903 `_) + * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" This reverts commit 69258bd92cb8a0ff8320df9b2302db72975e027f. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- -* ci: disable failing tests undetected due to broken regex filter (`#7731 `_) -* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) +* ci: disable failing tests undetected due to broken regex filter (`#7731 `_) +* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) * diag_updater\_ added in PID * correct the pointer form * pre-commit --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) * mpc fail checker diagnostic added * fix some scope issues * member attribute added. @@ -54,20 +54,20 @@ Changelog for package autoware_trajectory_follower_node * pre-commit --------- Co-authored-by: Takamasa Horibe -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) +* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) * RT1-6683 add autoware prefix to package and namepace * fix precommit --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats diff --git a/control/autoware_trajectory_follower_node/CMakeLists.txt b/control/autoware_trajectory_follower_node/CMakeLists.txt index 26488bd474149..90fa1b0319919 100644 --- a/control/autoware_trajectory_follower_node/CMakeLists.txt +++ b/control/autoware_trajectory_follower_node/CMakeLists.txt @@ -33,7 +33,7 @@ if(BUILD_TESTING) test/trajectory_follower_test_utils.hpp test/test_controller_node.cpp ) - ament_target_dependencies(${TRAJECTORY_FOLLOWER_NODES_TEST} fake_test_node) + ament_target_dependencies(${TRAJECTORY_FOLLOWER_NODES_TEST} autoware_fake_test_node) target_link_libraries( ${TRAJECTORY_FOLLOWER_NODES_TEST} ${CONTROLLER_NODE}) diff --git a/control/autoware_trajectory_follower_node/README.md b/control/autoware_trajectory_follower_node/README.md index aa692c323f6d0..ac05dd67f18e6 100644 --- a/control/autoware_trajectory_follower_node/README.md +++ b/control/autoware_trajectory_follower_node/README.md @@ -136,6 +136,7 @@ Giving the longitudinal controller information about steer convergence allows it #### Outputs - `autoware_control_msgs/Control`: message containing both lateral and longitudinal commands. +- `autoware_control_msgs/ControlHorizon`: message containing both lateral and longitudinal horizon commands. this is NOT published by default. by using this, the performance of vehicle control may be improved, and by turning the default on, it can be used as an experimental topic. #### Parameter @@ -146,6 +147,7 @@ Giving the longitudinal controller information about steer convergence allows it 2. The last received commands are not older than defined by `timeout_thr_sec`. - `lateral_controller_mode`: `mpc` or `pure_pursuit` - (currently there is only `PID` for longitudinal controller) +- `enable_control_cmd_horizon_pub`: publish `ControlHorizon` or not (default: false) ## Debugging diff --git a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp index a5f8665328f34..1733b4bcbbb7d 100644 --- a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp +++ b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_ #define AUTOWARE__TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_ +#include "autoware/trajectory_follower_base/control_horizon.hpp" #include "autoware/trajectory_follower_base/lateral_controller_base.hpp" #include "autoware/trajectory_follower_base/longitudinal_controller_base.hpp" #include "autoware/trajectory_follower_node/visibility_control.hpp" @@ -33,6 +34,7 @@ #include #include "autoware_control_msgs/msg/control.hpp" +#include "autoware_control_msgs/msg/control_horizon.hpp" #include "autoware_control_msgs/msg/longitudinal.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "geometry_msgs/msg/accel_stamped.hpp" @@ -41,6 +43,7 @@ #include "nav_msgs/msg/odometry.hpp" #include "tf2_msgs/msg/tf_message.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include #include #include @@ -50,13 +53,16 @@ namespace autoware::motion::control { +using trajectory_follower::LateralHorizon; using trajectory_follower::LateralOutput; +using trajectory_follower::LongitudinalHorizon; using trajectory_follower::LongitudinalOutput; namespace trajectory_follower_node { using autoware::universe_utils::StopWatch; using autoware_adapi_v1_msgs::msg::OperationModeState; +using autoware_control_msgs::msg::ControlHorizon; using tier4_debug_msgs::msg::Float64Stamped; namespace trajectory_follower = ::autoware::motion::control::trajectory_follower; @@ -72,6 +78,7 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node private: rclcpp::TimerBase::SharedPtr timer_control_; double timeout_thr_sec_; + bool enable_control_cmd_horizon_pub_{false}; boost::optional longitudinal_output_{boost::none}; std::shared_ptr diag_updater_ = @@ -104,6 +111,7 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_processing_time_lat_ms_; rclcpp::Publisher::SharedPtr pub_processing_time_lon_ms_; rclcpp::Publisher::SharedPtr debug_marker_pub_; + rclcpp::Publisher::SharedPtr control_cmd_horizon_pub_; autoware_planning_msgs::msg::Trajectory::ConstSharedPtr current_trajectory_ptr_; nav_msgs::msg::Odometry::ConstSharedPtr current_odometry_ptr_; @@ -134,6 +142,19 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node void publishDebugMarker( const trajectory_follower::InputData & input_data, const trajectory_follower::LateralOutput & lat_out) const; + /** + * @brief merge lateral and longitudinal horizons + * @details If one of the commands has only one control, repeat the control to match the other + * horizon. If each horizon has different time intervals, resample them to match the size + * with the greatest common divisor. + * @param lateral_horizon lateral horizon + * @param longitudinal_horizon longitudinal horizon + * @param stamp stamp + * @return merged control horizon + */ + static std::optional mergeLatLonHorizon( + const LateralHorizon & lateral_horizon, const LongitudinalHorizon & longitudinal_horizon, + const rclcpp::Time & stamp); std::unique_ptr logger_configure_; diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index 6de26798c5813..86a2592ebf5f4 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -37,11 +37,12 @@ ros2launch ament_cmake_ros + ament_index_cpp ament_index_python ament_lint_auto + autoware_fake_test_node autoware_lint_common autoware_testing - fake_test_node ros_testing diff --git a/control/autoware_trajectory_follower_node/src/controller_node.cpp b/control/autoware_trajectory_follower_node/src/controller_node.cpp index d5167f5096786..d3fc1ba52c95c 100644 --- a/control/autoware_trajectory_follower_node/src/controller_node.cpp +++ b/control/autoware_trajectory_follower_node/src/controller_node.cpp @@ -19,6 +19,8 @@ #include "autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" +#include + #include #include #include @@ -26,6 +28,26 @@ #include #include +namespace +{ +template +std::vector resampleHorizonByZeroOrderHold( + const std::vector & original_horizon, const double original_time_step_ms, + const double new_time_step_ms) +{ + std::vector resampled_horizon{}; + const size_t step_factor = static_cast(original_time_step_ms / new_time_step_ms); + const size_t resampled_size = original_horizon.size() * step_factor; + resampled_horizon.reserve(resampled_size); + for (const auto & command : original_horizon) { + for (size_t i = 0; i < step_factor; ++i) { + resampled_horizon.push_back(command); + } + } + return resampled_horizon; +} +} // namespace + namespace autoware::motion::control::trajectory_follower_node { Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("controller", node_options) @@ -34,6 +56,13 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control const double ctrl_period = declare_parameter("ctrl_period"); timeout_thr_sec_ = declare_parameter("timeout_thr_sec"); + // NOTE: It is possible that using control_horizon could be expected to enhance performance, + // but it is not a formal interface topic, only an experimental one. + // So it is disabled by default. + enable_control_cmd_horizon_pub_ = + declare_parameter("enable_control_cmd_horizon_pub", false); + + diag_updater_->setHardwareID("trajectory_follower_node"); const auto lateral_controller_mode = getLateralControllerMode(declare_parameter("lateral_controller_mode")); @@ -74,6 +103,11 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control debug_marker_pub_ = create_publisher("~/output/debug_marker", rclcpp::QoS{1}); + if (enable_control_cmd_horizon_pub_) { + control_cmd_horizon_pub_ = create_publisher( + "~/debug/control_cmd_horizon", 1); + } + // Timer { const auto period_ns = std::chrono::duration_cast( @@ -110,8 +144,8 @@ bool Controller::processData(rclcpp::Clock & clock) bool is_ready = true; const auto & logData = [&clock, this](const std::string & data_type) { - std::string msg = "Waiting for " + data_type + " data"; - RCLCPP_INFO_THROTTLE(get_logger(), clock, logger_throttle_interval, msg.c_str()); + RCLCPP_INFO_THROTTLE( + get_logger(), clock, logger_throttle_interval, "Waiting for %s data", data_type.c_str()); }; const auto & getData = [&logData](auto & dest, auto & sub, const std::string & data_type = "") { @@ -215,6 +249,15 @@ void Controller::callbackTimerControl() // 6. publish debug published_time_publisher_->publish_if_subscribed(control_cmd_pub_, out.stamp); publishDebugMarker(*input_data, lat_out); + + // 7. publish experimental topic + if (enable_control_cmd_horizon_pub_) { + const auto control_horizon = + mergeLatLonHorizon(lat_out.control_cmd_horizon, lon_out.control_cmd_horizon, this->now()); + if (control_horizon.has_value()) { + control_cmd_horizon_pub_->publish(control_horizon.value()); + } + } } void Controller::publishDebugMarker( @@ -254,6 +297,75 @@ void Controller::publishProcessingTime( pub->publish(msg); } +std::optional Controller::mergeLatLonHorizon( + const LateralHorizon & lateral_horizon, const LongitudinalHorizon & longitudinal_horizon, + const rclcpp::Time & stamp) +{ + if (lateral_horizon.controls.empty() || longitudinal_horizon.controls.empty()) { + return std::nullopt; + } + + autoware_control_msgs::msg::ControlHorizon control_horizon{}; + control_horizon.stamp = stamp; + + // If either of the horizons has only one control, repeat the control to match the other horizon. + if (lateral_horizon.controls.size() == 1) { + control_horizon.time_step_ms = longitudinal_horizon.time_step_ms; + const auto lateral = lateral_horizon.controls.front(); + for (const auto & longitudinal : longitudinal_horizon.controls) { + autoware_control_msgs::msg::Control control; + control.longitudinal = longitudinal; + control.lateral = lateral; + control.stamp = stamp; + control_horizon.controls.push_back(control); + } + return control_horizon; + } + if (longitudinal_horizon.controls.size() == 1) { + control_horizon.time_step_ms = lateral_horizon.time_step_ms; + const auto longitudinal = longitudinal_horizon.controls.front(); + for (const auto & lateral : lateral_horizon.controls) { + autoware_control_msgs::msg::Control control; + control.longitudinal = longitudinal; + control.lateral = lateral; + control.stamp = stamp; + control_horizon.controls.push_back(control); + } + return control_horizon; + } + + // If both horizons have multiple controls, align the time steps and zero-order hold the controls. + // calculate greatest common divisor of time steps + const auto gcd_double = [](const double a, const double b) { + const double precision = 1e9; + const int int_a = static_cast(round(a * precision)); + const int int_b = static_cast(round(b * precision)); + return static_cast(std::gcd(int_a, int_b)) / precision; + }; + const double time_step_ms = + gcd_double(lateral_horizon.time_step_ms, longitudinal_horizon.time_step_ms); + control_horizon.time_step_ms = time_step_ms; + + const auto lateral_controls = resampleHorizonByZeroOrderHold( + lateral_horizon.controls, lateral_horizon.time_step_ms, time_step_ms); + const auto longitudinal_controls = resampleHorizonByZeroOrderHold( + longitudinal_horizon.controls, longitudinal_horizon.time_step_ms, time_step_ms); + + if (lateral_controls.size() != longitudinal_controls.size()) { + return std::nullopt; + } + + const size_t num_steps = lateral_controls.size(); + for (size_t i = 0; i < num_steps; ++i) { + autoware_control_msgs::msg::Control control{}; + control.stamp = stamp; + control.lateral = lateral_controls.at(i); + control.longitudinal = longitudinal_controls.at(i); + control_horizon.controls.push_back(control); + } + return control_horizon; +} + } // namespace autoware::motion::control::trajectory_follower_node #include "rclcpp_components/register_node_macro.hpp" diff --git a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp index 71813c8a5c5d8..40e4366d9aa17 100644 --- a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp +++ b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp @@ -13,8 +13,8 @@ // limitations under the License. #include "ament_index_cpp/get_package_share_directory.hpp" +#include "autoware/fake_test_node/fake_test_node.hpp" #include "autoware/trajectory_follower_node/controller_node.hpp" -#include "fake_test_node/fake_test_node.hpp" #include "gtest/gtest.h" #include "rclcpp/rclcpp.hpp" #include "rclcpp/time.hpp" @@ -42,7 +42,7 @@ using SteeringReport = autoware_vehicle_msgs::msg::SteeringReport; using autoware_adapi_v1_msgs::msg::OperationModeState; using geometry_msgs::msg::AccelWithCovarianceStamped; -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; const rclcpp::Duration one_second(1, 0); diff --git a/control/autoware_trajectory_follower_node/test/trajectory_follower_test_utils.hpp b/control/autoware_trajectory_follower_node/test/trajectory_follower_test_utils.hpp index 1ccffcaf7f3e3..31c5bad619cb9 100644 --- a/control/autoware_trajectory_follower_node/test/trajectory_follower_test_utils.hpp +++ b/control/autoware_trajectory_follower_node/test/trajectory_follower_test_utils.hpp @@ -15,7 +15,7 @@ #ifndef TRAJECTORY_FOLLOWER_TEST_UTILS_HPP_ #define TRAJECTORY_FOLLOWER_TEST_UTILS_HPP_ -#include "fake_test_node/fake_test_node.hpp" +#include "autoware/fake_test_node/fake_test_node.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp/time.hpp" #include "tf2_ros/static_transform_broadcaster.h" @@ -27,7 +27,7 @@ namespace test_utils { -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; inline void waitForMessage( const std::shared_ptr & node, FakeNodeFixture * fixture, const bool & received_flag, diff --git a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst index 7c453394c8702..20fc77c4cda55 100644 --- a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst +++ b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_vehicle_cmd_gate 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* chore(vehicle_cmd_gate): delete deprecated parameters (`#8537 `_) +* chore(vehicle_cmd_gate): delete deprecated parameters (`#8537 `_) delete deprecated params in vehicle_cmd_gate.param.yaml -* fix(autoware_vehicle_cmd_gate): fix unusedFunction (`#8556 `_) +* fix(autoware_vehicle_cmd_gate): fix unusedFunction (`#8556 `_) fix:unusedFunction -* refactor(vehicle_cmd_gate): use smaller class for filter command (`#8518 `_) -* fix(autoware_vehicle_cmd_gate): fix unreadVariable (`#8351 `_) -* feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs (`#8479 `_) +* refactor(vehicle_cmd_gate): use smaller class for filter command (`#8518 `_) +* fix(autoware_vehicle_cmd_gate): fix unreadVariable (`#8351 `_) +* feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs (`#8479 `_) * add prev_commands\_ and check cmd's time stamp * add timestamp when is_engaged is false * style(pre-commit): autofix @@ -45,7 +45,7 @@ Changelog for package autoware_vehicle_cmd_gate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* feat(autoware_vehicle_cmd_gate): check the timestamp of input topics to avoid using old topics (`#8084 `_) +* feat(autoware_vehicle_cmd_gate): check the timestamp of input topics to avoid using old topics (`#8084 `_) * add prev_commands\_ and check cmd's time stamp * add timestamp when is_engaged is false * style(pre-commit): autofix @@ -67,38 +67,38 @@ Changelog for package autoware_vehicle_cmd_gate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* fix(autoware_vehicle_cmd_gate): fix functionConst (`#8253 `_) +* fix(autoware_vehicle_cmd_gate): fix functionConst (`#8253 `_) fix: functionConst -* fix(autoware_vehicle_cmd_gate): fix cppcheck warning of functionStatic (`#8260 `_) +* fix(autoware_vehicle_cmd_gate): fix cppcheck warning of functionStatic (`#8260 `_) * fix: deal with functionStatic warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_vehicle_cmd_gate): fix uninitMemberVar (`#8339 `_) +* fix(autoware_vehicle_cmd_gate): fix uninitMemberVar (`#8339 `_) fix:uninitMemberVar -* fix(autoware_vehicle_cmd_gate): fix passedByValue (`#8243 `_) +* fix(autoware_vehicle_cmd_gate): fix passedByValue (`#8243 `_) fix: passedByValue -* fix(autoware_vehicle_cmd_gate): fix funcArgNamesDifferent (`#8006 `_) +* fix(autoware_vehicle_cmd_gate): fix funcArgNamesDifferent (`#8006 `_) fix:funcArgNamesDifferent -* refactor(vehicle_cmd_gate)!: delete rate limit skipping function for vehicle departure (`#7720 `_) +* refactor(vehicle_cmd_gate)!: delete rate limit skipping function for vehicle departure (`#7720 `_) * delete a fucntion block. More appropriate function can be achieved by the parameter settings. * add notation to readme --------- -* fix(vehicle_cmd_gate): colcon test failure due to heavy process (`#7678 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(vehicle_cmd_gate): colcon test failure due to heavy process (`#7678 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(vehicle_cmd_gate): put back subscriber rather than using polling subsriber (`#7500 `_) +* fix(vehicle_cmd_gate): put back subscriber rather than using polling subsriber (`#7500 `_) put back polling subscribers to subscribers in neccesary cases -* fix(vehicle_cmd_gate): fix unnecessary modification (`#7488 `_) +* fix(vehicle_cmd_gate): fix unnecessary modification (`#7488 `_) fix onGateMode function -* feat(vehicle_cmd_gate): use polling subscriber (`#7418 `_) +* feat(vehicle_cmd_gate): use polling subscriber (`#7418 `_) * change to polling subscriber * fix --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -133,7 +133,7 @@ Changelog for package autoware_vehicle_cmd_gate * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) +* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) * add prefix autoware\_ to vehicle_cmd_gate package * fix * fix include guard diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index a80bb2a4086b8..a5026a0edb3ef 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -39,6 +39,7 @@ rosidl_default_runtime ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common diff --git a/control/control_performance_analysis/CHANGELOG.rst b/control/control_performance_analysis/CHANGELOG.rst index ca44e287e4341..cfe98a0e66275 100644 --- a/control/control_performance_analysis/CHANGELOG.rst +++ b/control/control_performance_analysis/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package control_performance_analysis 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(control_performance_analysis): fix unusedFunction (`#8557 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(control_performance_analysis): fix unusedFunction (`#8557 `_) fix:unusedFunction -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -48,23 +48,23 @@ Changelog for package control_performance_analysis * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for control modules (`#7240 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for control modules (`#7240 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(control_performance_analysis): fix bug of ignoredReturnValue (`#6921 `_) +* fix(control_performance_analysis): fix bug of ignoredReturnValue (`#6921 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* refactor(common, control, planning): replace boost::optional with std::optional (`#5717 `_) +* refactor(common, control, planning): replace boost::optional with std::optional (`#5717 `_) * refactor(behavior_path_planner): replace boost optional with std * do it on motion utils as well. * up until now * finally * fix all issue --------- -* refactor(control_performance_analysis): rework parameters (`#4730 `_) +* refactor(control_performance_analysis): rework parameters (`#4730 `_) * refactor the configuration files of the node control_performance_analysis according to the new ROS node config guideline. Rename controller_performance_analysis.launch.xml->control_performance_analysis.launch.xml update the parameter information in the README.md @@ -73,8 +73,8 @@ Changelog for package control_performance_analysis * revert copyright info --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* style: fix typos in PlotJuggler config files (`#3618 `_) -* refactor(control_performance_analysis): refactor structure (`#3786 `_) +* style: fix typos in PlotJuggler config files (`#3618 `_) +* refactor(control_performance_analysis): refactor structure (`#3786 `_) * fix(control_performance_analysis): data is not updated on failure * update * update all (tmp @@ -82,18 +82,18 @@ Changelog for package control_performance_analysis * update * fix pre-commit --------- -* fix(control_performance_analysis): fix interpolate method (`#3704 `_) +* fix(control_performance_analysis): fix interpolate method (`#3704 `_) * fix(control_performance_analysis): fix interpolate method * pre-commit * fix process die due to failure on the closest index search * minor refactor to use autoware_util --------- -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -101,7 +101,7 @@ Changelog for package control_performance_analysis --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore(typo): eliminate typos (`#2216 `_) +* chore(typo): eliminate typos (`#2216 `_) * Replace 'asssert' with 'assert' * fix(typo): computationall => computational * fix(typo): collinearity => collinearity @@ -273,11 +273,11 @@ Changelog for package control_performance_analysis commit c7d3b7d2132323af3437af01e9d774b13005bace Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Fri Dec 16 13:51:35 2022 +0900 - test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) + test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri Dec 16 09:29:35 2022 +0900 - feat(pose_initializer): partial map loading (`#2500 `_) + feat(pose_initializer): partial map loading (`#2500 `_) * first commit * move function * now works @@ -296,7 +296,7 @@ Changelog for package control_performance_analysis commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba Author: Kosuke Takeuchi Date: Thu Dec 15 17:29:44 2022 +0900 - feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) + feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) * feat(trajectory_follower): extend mpc trajectory for terminal yaw * make mpc min vel param * add mpc extended point after smoothing @@ -313,7 +313,7 @@ Changelog for package control_performance_analysis commit ad2ae7827bdc3af7da8607fdd53ea74940426421 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 15 15:52:34 2022 +0900 - feat(component_interface_tools): add service log checker (`#2503 `_) + feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics @@ -321,11 +321,11 @@ Changelog for package control_performance_analysis commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu Dec 15 12:54:11 2022 +0900 - fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) + fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> Date: Thu Dec 15 10:45:45 2022 +0900 - feat(behavior_path_planner): change side shift module logic (`#2195 `_) + feat(behavior_path_planner): change side shift module logic (`#2195 `_) * change side shift module design * cherry picked side shift controller * add debug marker to side shift @@ -343,45 +343,45 @@ Changelog for package control_performance_analysis commit 9183c4f20eb4592ed0b48c2eac67add070711677 Author: Takamasa Horibe Date: Wed Dec 14 19:59:00 2022 +0900 - refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) + refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) commit ed992b10ed326f03354dce3b563b8622f9ae9a6c Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 17:48:24 2022 +0900 - fix(behavior_path_planner): fix planner data copy (`#2501 `_) + fix(behavior_path_planner): fix planner data copy (`#2501 `_) commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 14:42:16 2022 +0900 - fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) + fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) * feat(behavior_path_planner): fix find nearest function from lateral distance * empty commit commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 11:28:07 2022 +0900 - feat(behavior_path_planner): fix overlap checker (`#2498 `_) + feat(behavior_path_planner): fix overlap checker (`#2498 `_) * feat(behavior_path_planner): fix overlap checker * remove reserve commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue Dec 13 16:51:59 2022 +0300 - feat(mission_planner): check goal footprint (`#2088 `_) + feat(mission_planner): check goal footprint (`#2088 `_) commit b6a18855431b5f3a67fcbf383fac8df2b45d462e Author: Takamasa Horibe Date: Tue Dec 13 22:46:24 2022 +0900 - feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) + feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 19:47:16 2022 +0900 - feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) + feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) * feat(behavior_path_planner): clean drivable area code * make a function for turn signal decider commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 18:19:41 2022 +0900 - feat(behavior_path_planner): change turn signal output timing (`#2493 `_) + feat(behavior_path_planner): change turn signal output timing (`#2493 `_) commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue Dec 13 09:16:14 2022 +0900 - feat(map_loader): add differential map loading interface (`#2417 `_) + feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -394,13 +394,13 @@ Changelog for package control_performance_analysis commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 08:49:23 2022 +0900 - docs(default_ad_api): add readme (`#2491 `_) + docs(default_ad_api): add readme (`#2491 `_) * docs(default_ad_api): add readme * feat: update table commit 49aa10b04de61c36706f6151d11bf17257ca54d1 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 06:46:20 2022 +0900 - feat(default_ad_api): split parameters into file (`#2488 `_) + feat(default_ad_api): split parameters into file (`#2488 `_) * feat(default_ad_api): split parameters into file * feat: remove old parameter * fix: test @@ -408,7 +408,7 @@ Changelog for package control_performance_analysis commit 7f0138c356c742b6e15e571e7a4683caa55969ac Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon Dec 12 22:16:54 2022 +0900 - feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) + feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -432,11 +432,11 @@ Changelog for package control_performance_analysis commit c855e23cc17d1518ebce5dd15629d03acfe17da3 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 17:15:10 2022 +0900 - refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) + refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) commit fa04d540c9afdded016730c9978920a194d2d2b4 Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon Dec 12 16:04:00 2022 +0900 - feat: replace python launch with xml launch for system monitor (`#2430 `_) + feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure @@ -444,7 +444,7 @@ Changelog for package control_performance_analysis commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 Author: Kosuke Takeuchi Date: Mon Dec 12 15:01:39 2022 +0900 - feat(trajectory_follower): pub steer converged marker (`#2441 `_) + feat(trajectory_follower): pub steer converged marker (`#2441 `_) * feat(trajectory_follower): pub steer converged marker * Revert "feat(trajectory_follower): pub steer converged marker" This reverts commit a6f6917bc542d5b533150f6abba086121e800974. @@ -452,15 +452,15 @@ Changelog for package control_performance_analysis commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 12:48:41 2022 +0900 - docs(tier4_state_rviz_plugin): update readme (`#2475 `_) + docs(tier4_state_rviz_plugin): update readme (`#2475 `_) commit d8ece0040354be5381a27403bcc757354735a77b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 11:57:03 2022 +0900 - chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) + chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 10:00:35 2022 +0900 - fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) + fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) * fix(behavior_path_planner): lane change candidate resolution * rework sampling based on current speed * refactor code @@ -470,21 +470,21 @@ Changelog for package control_performance_analysis commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 09:57:19 2022 +0900 - fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) + fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) commit 469d8927bd7a0c98b9d491d347e111065973e13f Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri Dec 9 21:27:18 2022 +0900 - revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) + revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. commit d924f85b079dfe64feab017166685be40e977e62 Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Date: Fri Dec 9 19:53:51 2022 +0800 - fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) + fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> commit b2ded82324bce78d9db3ff01b0227b00709b1efe Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri Dec 9 17:12:13 2022 +0900 - fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) + fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) * fix: reclassify ground cluster pcl * fix: add lowest-based recheck * chore: refactoring @@ -493,19 +493,19 @@ Changelog for package control_performance_analysis commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e Author: Takamasa Horibe Date: Fri Dec 9 16:29:45 2022 +0900 - fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) + fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) commit d4939058f05f9a1609f0ed22afbd0d4febfb212d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri Dec 9 12:40:30 2022 +0900 - feat(behavior_velocity_planner): clean walkway module (`#2480 `_) + feat(behavior_velocity_planner): clean walkway module (`#2480 `_) commit d3b86a37ae7c3a0d59832caf56afa13b148d562c Author: Makoto Kurihara Date: Thu Dec 8 22:59:32 2022 +0900 - fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) + fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) commit 2dde073a101e96757ef0cd189bb9ff06836934e9 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 8 17:16:13 2022 +0900 - feat(behavior_velocity_planner): add velocity factors (`#1985 `_) + feat(behavior_velocity_planner): add velocity factors (`#1985 `_) * (editting) add intersection_coordination to stop reason * (editting) add intersection coordination to stop reasons * (Editting) add v2x to stop reason @@ -556,11 +556,11 @@ Changelog for package control_performance_analysis commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 Author: Kosuke Takeuchi Date: Thu Dec 8 13:42:50 2022 +0900 - fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) + fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:57:04 2022 +0900 - feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) + feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) * feat(gyro_odometer): publish when both data arrive * remove unnecessary commentouts * ci(pre-commit): autofix @@ -581,61 +581,61 @@ Changelog for package control_performance_analysis commit f0f513cf44532dfe8d51d27c4caef23fb694af16 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:08:29 2022 +0900 - fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) + fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) commit 01daebf42937a05a2d83f3dee2c0778389492e50 Author: Takayuki Murooka Date: Thu Dec 8 00:28:35 2022 +0900 - fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) + fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed Dec 7 19:32:09 2022 +0900 - fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) + fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 18:00:32 2022 +0900 - fix(motion_utils): rename sampling function (`#2469 `_) + fix(motion_utils): rename sampling function (`#2469 `_) commit c240ce2b6f4e79c435ed651b347a7d665a947862 Author: Yukihiro Saito Date: Wed Dec 7 16:33:44 2022 +0900 - feat: remove web controller (`#2405 `_) + feat: remove web controller (`#2405 `_) commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 15:39:28 2022 +0900 - feat(motion_utils): add points resample function (`#2465 `_) + feat(motion_utils): add points resample function (`#2465 `_) commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Wed Dec 7 14:42:33 2022 +0900 - docs: update training data for traffic light (`#2464 `_) + docs: update training data for traffic light (`#2464 `_) * update traffic light cnn classifier README.md * correct to upper case Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> commit a4287165be87fa7727f79c01dfb0bea6af54c333 Author: Ryuta Kambe Date: Wed Dec 7 12:21:49 2022 +0900 - perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) + perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 12:03:46 2022 +0900 - feat(behavior_path_planner): cut overlapped path (`#2451 `_) + feat(behavior_path_planner): cut overlapped path (`#2451 `_) * feat(behavior_path_planner): cut overlapped path * clean code commit 65003dc99f2abe937afcc010514530fa666fbbfd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Wed Dec 7 11:06:41 2022 +0900 - revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) - Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" + revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) + Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" This reverts commit c4224854a7e57a9526dde998f742741fe383471c. commit fab18677ca4de378faff84a41db5147577e7448d Author: Makoto Kurihara Date: Wed Dec 7 10:32:41 2022 +0900 - fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) + fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 Author: Ambroise Vincent Date: Tue Dec 6 10:39:02 2022 +0100 - fix(tvm_utility): copy test result to CPU (`#2414 `_) + fix(tvm_utility): copy test result to CPU (`#2414 `_) Also remove dependency to autoware_auto_common. Issue-Id: SCM-5401 Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d @@ -643,12 +643,12 @@ Changelog for package control_performance_analysis commit eb9946832c7e42d5380fd71956165409d0b592c3 Author: Mamoru Sobue Date: Tue Dec 6 18:11:41 2022 +0900 - chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) + chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) changed logging level commit c4224854a7e57a9526dde998f742741fe383471c Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 6 17:01:37 2022 +0900 - fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) + fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) * fix(default_ad_api): fix autoware state to add wait time * Update system/default_ad_api/src/compatibility/autoware_state.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> @@ -656,14 +656,14 @@ Changelog for package control_performance_analysis commit f984fbb708cb02947ec2824ce041c739c35940f7 Author: Takamasa Horibe Date: Tue Dec 6 13:55:17 2022 +0900 - feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) + feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) * feat(transition_manager): add param to ignore autonomous transition condition * same for modeChangeCompleted * remove debug print commit d3e640df270a0942c4639e11451faf26e099bbe1 Author: Tomoya Kimura Date: Tue Dec 6 13:01:06 2022 +0900 - feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) + feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) * chore(cspell): interpolable => interpolatable * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing @@ -674,10 +674,10 @@ Changelog for package control_performance_analysis --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yukihiro Saito -* refactor(control_performance_analysis): delete default values (`#2944 `_) +* refactor(control_performance_analysis): delete default values (`#2944 `_) delete param Co-authored-by: yamazakiTasuku -* chore(control, planning): add maintainers (`#2951 `_) +* chore(control, planning): add maintainers (`#2951 `_) * chore(control_performance_analysis): add maintainers * chore(external_cmd_selector): add maintainers * chore(joy_controller): add maintainers @@ -687,13 +687,13 @@ Changelog for package control_performance_analysis Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --------- Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* chore: remove motion_common dependency (`#2231 `_) +* chore: remove motion_common dependency (`#2231 `_) * remove motion_common from smoother * remove motion_common from control_performance_analysis and simple_planning_simualtor * fix include * add include -* chore: missing topic info duration 1000 -> 5000 (`#2056 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore: missing topic info duration 1000 -> 5000 (`#2056 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -726,7 +726,7 @@ Changelog for package control_performance_analysis * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(control_performance_analysis): fix choosing wrong closest trajectory point (`#1522 `_) +* fix(control_performance_analysis): fix choosing wrong closest trajectory point (`#1522 `_) * fix(control_performance_analysis): fix choosing wrong closest trajectory point * removed comments * ci(pre-commit): autofix @@ -741,7 +741,7 @@ Changelog for package control_performance_analysis * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(control_performance_analysis): monitor desired and current steering tire angle in driving monitor (`#1133 `_) +* feat(control_performance_analysis): monitor desired and current steering tire angle in driving monitor (`#1133 `_) * feat(control_performance_analysis): monitor desired and current steering tire angle in driving monitor * ci(pre-commit): autofix * update readme @@ -750,25 +750,25 @@ Changelog for package control_performance_analysis * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(control_performance_analysis): add low pass filter to control_performance_analysis tool (`#1099 `_) +* feat(control_performance_analysis): add low pass filter to control_performance_analysis tool (`#1099 `_) * feat(control_performance_analysis): add low pass filter to control_performance_analysis tool * ci(pre-commit): autofix * Member variables are suffixed by an underscore Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(control_performance_analysis): add new functionalities to evaluate the control modules (`#659 `_) +* feat(control_performance_analysis): add new functionalities to evaluate the control modules (`#659 `_) Co-authored-by: M. Fatih Cırıt -* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix(control_performance_analysis): modify build error in rolling (`#757 `_) -* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) +* fix(control_performance_analysis): modify build error in rolling (`#757 `_) +* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) * fix(tier4_autoware_utils): modify build error in rolling * fix(lanelet2_extension): add target compile definition for geometry2 * fix(ekf_localizer): add target compile definition for geometry2 @@ -806,11 +806,11 @@ Changelog for package control_performance_analysis * fix(planning_error_monitor): add target compile definition for geometry2 * fix(planning_evaluator): add target compile definition for geometry2 * fix(lidar_centerpoint): add target compile definition for geometry2 -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: replace legacy timer (`#329 `_) +* chore: replace legacy timer (`#329 `_) * chore(goal_distance_calculator): replace legacy timer * chore(path_distance_calculator): replace legacy timer * chore(control_performance_analysis): replace legacy timer @@ -845,11 +845,11 @@ Changelog for package control_performance_analysis * chore(external_cmd_converter): replace legacy timer * chore(pacmod_interface): replace legacy timer * chore(lint): apply pre-commit -* fix(control performance analysis): suppress warnings (`#293 `_) +* fix(control performance analysis): suppress warnings (`#293 `_) * fix: delete unused variable * feat: add Werror * fix: fix clang-diagnostic-unused-private-field -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -866,7 +866,7 @@ Changelog for package control_performance_analysis * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: load vehicle info default param (`#148 `_) +* feat: load vehicle info default param (`#148 `_) * update global_parameter loader readme * remove unused dependency * add default vehicle_info_param to launch files @@ -880,7 +880,7 @@ Changelog for package control_performance_analysis * ci(pre-commit): autofix Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -888,9 +888,9 @@ Changelog for package control_performance_analysis * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add control_performance_analysis (`#95 `_) - * Feature/porting control performance analysis (`#1671 `_) - * Feature/control performance analysis (`#1212 `_) +* feat: add control_performance_analysis (`#95 `_) + * Feature/porting control performance analysis (`#1671 `_) + * Feature/control performance analysis (`#1212 `_) * First commit of kinematic_controller * First commit. * second commit @@ -950,13 +950,13 @@ Changelog for package control_performance_analysis * Add comment for eigen macro * pre-commit fixes Co-authored-by: Ali BOYALI - * Fix package.xml (`#2056 `_) - * Fix typo for control_performance_analysis (`#2328 `_) + * Fix package.xml (`#2056 `_) + * Fix typo for control_performance_analysis (`#2328 `_) * fix typo * fix Contro -> Control * fix for spellcheck * fix - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -968,8 +968,8 @@ Changelog for package control_performance_analysis * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * adapt to actuation cmd/status as control msg (`#646 `_) + * Add COLCON_IGNORE (`#500 `_) + * adapt to actuation cmd/status as control msg (`#646 `_) * adapt to actuation cmd/status as control msg * fix readme * fix topics @@ -980,18 +980,18 @@ Changelog for package control_performance_analysis * revert gyro_odometer_change * revert twist topic change * revert unchanged package - * port control_performance_analysis (`#698 `_) + * port control_performance_analysis (`#698 `_) * port control_performance_analysis * rename * fix topic name * remove unnecessary depedency * change name of odom topic - * add readme in control_performance_analysis (`#716 `_) + * add readme in control_performance_analysis (`#716 `_) * add readme * update readme * update readme * Update control/control_performance_analysis/README.md - * Update twist topic name (`#736 `_) + * Update twist topic name (`#736 `_) * Apply suggestions from code review Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Ali BOYALI diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/control_performance_analysis/src/control_performance_analysis_core.cpp index 5f72c8ea316bd..769593ac34d09 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_core.cpp +++ b/control/control_performance_analysis/src/control_performance_analysis_core.cpp @@ -335,8 +335,7 @@ bool ControlPerformanceAnalysisCore::calculateDrivingVars() lpf(curr.desired_steering_angle.data, prev->desired_steering_angle.data); } - prev_driving_vars_ = - std::move(std::make_unique(driving_status_vars)); + prev_driving_vars_ = std::make_unique(driving_status_vars); last_odom_header.stamp = odom_history_ptr_->at(odom_size - 1).header.stamp; last_steering_report.stamp = current_vec_steering_msg_ptr_->stamp; diff --git a/control/predicted_path_checker/CHANGELOG.rst b/control/predicted_path_checker/CHANGELOG.rst index 7d1a44924341f..b2dbfa706eedc 100644 --- a/control/predicted_path_checker/CHANGELOG.rst +++ b/control/predicted_path_checker/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package predicted_path_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(predicted_path_checker): fix constParameterReference (`#8038 `_) +* fix(predicted_path_checker): fix constParameterReference (`#8038 `_) fix:constParameterReference -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -50,7 +50,7 @@ Changelog for package predicted_path_checker * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for control modules (`#7240 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for control modules (`#7240 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -58,10 +58,10 @@ Changelog for package predicted_path_checker 0.26.0 (2024-04-03) ------------------- -* fix(predicted_path_checker): check if trajectory size (`#6730 `_) +* fix(predicted_path_checker): check if trajectory size (`#6730 `_) check trajectory size Co-authored-by: beyza -* refactor(motion_utils): change directory name of tmp_conversion (`#5908 `_) +* refactor(motion_utils): change directory name of tmp_conversion (`#5908 `_) * change .hpp name * change .cpp name * correct the #inlcude and #ifndef @@ -72,8 +72,8 @@ Changelog for package predicted_path_checker * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) - * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) +* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) + * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) * Added pkg to control.launch.py --------- * Contributors: Berkay Karaman, Zhe Shen, beyzanurkaya diff --git a/evaluator/autoware_control_evaluator/CHANGELOG.rst b/evaluator/autoware_control_evaluator/CHANGELOG.rst index 66f1454d991fb..2469aea0deca1 100644 --- a/evaluator/autoware_control_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_control_evaluator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_control_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw (`#9155 `_) +* feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw (`#9155 `_) * feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw * style(pre-commit): autofix * fix: content of kosuke55-san comments @@ -13,7 +13,7 @@ Changelog for package autoware_control_evaluator * fix: variable name --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* test(autoware_control_evaluator): add test for autoware_control_evaluator. (`#9114 `_) +* test(autoware_control_evaluator): add test for autoware_control_evaluator. (`#9114 `_) * init * tmp save. * save, there is a bug @@ -21,7 +21,7 @@ Changelog for package autoware_control_evaluator * coverage rate 64.5 * remove comments. --------- -* docs(control_evaluator): update readme (`#8829 `_) +* docs(control_evaluator): update readme (`#8829 `_) * update readme * add maintainer * Update evaluator/autoware_control_evaluator/package.xml @@ -29,11 +29,11 @@ Changelog for package autoware_control_evaluator Co-authored-by: Tiankui Xian <1041084556@qq.com> --------- Co-authored-by: Tiankui Xian <1041084556@qq.com> -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -42,15 +42,15 @@ Changelog for package autoware_control_evaluator Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) +* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) * add utils and diagnostics subscription to planning_evaluator * add diagnostics eval * fix input diag in launch --------- Co-authored-by: kosuke55 -* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) +* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) use class naming standard and use remapped param name -* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) +* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) * add route handler * add lanelet info to diagnostic * add const @@ -61,12 +61,12 @@ Changelog for package autoware_control_evaluator * add shoulder lanelets * fix includes --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) +* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) * feat(control_evaluator): rename to include/autoware/{package_name} * fix --------- diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index d1c459d1462e9..6e4a04964a72c 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -19,31 +19,32 @@ #include #include +#include #include #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include -#include #include +#include +#include +#include #include #include #include -#include -#include namespace control_diagnostics { using autoware_planning_msgs::msg::Trajectory; -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin; using autoware_planning_msgs::msg::LaneletRoute; using geometry_msgs::msg::AccelWithCovarianceStamped; +using MetricMsg = tier4_metric_msgs::msg::Metric; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; /** * @brief Node for control evaluation @@ -52,28 +53,19 @@ class ControlEvaluatorNode : public rclcpp::Node { public: explicit ControlEvaluatorNode(const rclcpp::NodeOptions & node_options); - DiagnosticStatus generateLateralDeviationDiagnosticStatus( - const Trajectory & traj, const Point & ego_point); - DiagnosticStatus generateYawDeviationDiagnosticStatus( - const Trajectory & traj, const Pose & ego_pose); - DiagnosticStatus generateGoalLongitudinalDeviationDiagnosticStatus(const Pose & ego_pose); - DiagnosticStatus generateGoalLateralDeviationDiagnosticStatus(const Pose & ego_pose); - DiagnosticStatus generateGoalYawDeviationDiagnosticStatus(const Pose & ego_pose); - - DiagnosticStatus generateAEBDiagnosticStatus(const DiagnosticStatus & diag); - DiagnosticStatus generateLaneletDiagnosticStatus(const Pose & ego_pose) const; - DiagnosticStatus generateKinematicStateDiagnosticStatus( + void AddLateralDeviationMetricMsg(const Trajectory & traj, const Point & ego_point); + void AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose); + void AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose); + void AddGoalLateralDeviationMetricMsg(const Pose & ego_pose); + void AddGoalYawDeviationMetricMsg(const Pose & ego_pose); + + void AddLaneletMetricMsg(const Pose & ego_pose); + void AddKinematicStateMetricMsg( const Odometry & odom, const AccelWithCovarianceStamped & accel_stamped); - void onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg); void onTimer(); private: - // The diagnostics cycle is faster than timer, and each node publishes diagnostic separately. - // takeData() in onTimer() with a polling subscriber will miss a topic, so save all topics with - // onDiagnostics(). - rclcpp::Subscription::SharedPtr control_diag_sub_; - autoware::universe_utils::InterProcessPollingSubscriber odometry_sub_{ this, "~/input/odometry"}; autoware::universe_utils::InterProcessPollingSubscriber accel_sub_{ @@ -87,7 +79,8 @@ class ControlEvaluatorNode : public rclcpp::Node LaneletMapBin, autoware::universe_utils::polling_policy::Newest> vector_map_subscriber_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; - rclcpp::Publisher::SharedPtr metrics_pub_; + rclcpp::Publisher::SharedPtr processing_time_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; // update Route Handler void getRouteData(); @@ -96,10 +89,7 @@ class ControlEvaluatorNode : public rclcpp::Node // Metrics std::deque stamps_; - // queue for diagnostics and time stamp - std::deque> diag_queue_; - const std::vector target_functions_ = {"autonomous_emergency_braking"}; - + MetricArrayMsg metrics_msg_; autoware::route_handler::RouteHandler route_handler_; rclcpp::TimerBase::SharedPtr timer_; std::optional prev_acc_stamped_{std::nullopt}; diff --git a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml index 0070c07fe4aa7..e9fee7ffadbf2 100644 --- a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml +++ b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml @@ -13,7 +13,6 @@ - diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index 0e2b1727a465b..8ab2c73cb619a 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -16,19 +16,18 @@ ament_cmake_auto autoware_cmake - autoware_evaluator_utils autoware_motion_utils autoware_planning_msgs autoware_route_handler autoware_test_utils autoware_universe_utils - diagnostic_msgs nav_msgs pluginlib rclcpp rclcpp_components tf2 tf2_ros + tier4_metric_msgs ament_cmake_ros ament_lint_auto diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index 9fb9d4bd080f7..c24dfee571852 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -14,15 +14,11 @@ #include "autoware/control_evaluator/control_evaluator_node.hpp" -#include "autoware/evaluator_utils/evaluator_utils.hpp" - #include #include -#include #include #include -#include #include namespace control_diagnostics @@ -31,11 +27,11 @@ ControlEvaluatorNode::ControlEvaluatorNode(const rclcpp::NodeOptions & node_opti : Node("control_evaluator", node_options) { using std::placeholders::_1; - control_diag_sub_ = create_subscription( - "~/input/diagnostics", 1, std::bind(&ControlEvaluatorNode::onDiagnostics, this, _1)); // Publisher - metrics_pub_ = create_publisher("~/metrics", 1); + processing_time_pub_ = + this->create_publisher("~/debug/processing_time_ms", 1); + metrics_pub_ = create_publisher("~/metrics", 1); // Timer callback to publish evaluator diagnostics using namespace std::literals::chrono_literals; @@ -66,28 +62,7 @@ void ControlEvaluatorNode::getRouteData() } } -void ControlEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg) -{ - // add target diagnostics to the queue and remove old ones - for (const auto & function : target_functions_) { - autoware::evaluator_utils::updateDiagnosticQueue(*diag_msg, function, now(), diag_queue_); - } -} - -DiagnosticStatus ControlEvaluatorNode::generateAEBDiagnosticStatus(const DiagnosticStatus & diag) -{ - DiagnosticStatus status; - status.level = status.OK; - status.name = diag.name; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "decision"; - const bool is_emergency_brake = (diag.level == DiagnosticStatus::ERROR); - key_value.value = (is_emergency_brake) ? "deceleration" : "none"; - status.values.push_back(key_value); - return status; -} - -DiagnosticStatus ControlEvaluatorNode::generateLaneletDiagnosticStatus(const Pose & ego_pose) const +void ControlEvaluatorNode::AddLaneletMetricMsg(const Pose & ego_pose) { const auto current_lanelets = [&]() { lanelet::ConstLanelet closest_route_lanelet; @@ -102,37 +77,44 @@ DiagnosticStatus ControlEvaluatorNode::generateLaneletDiagnosticStatus(const Pos lanelet::ConstLanelet current_lane; lanelet::utils::query::getClosestLanelet(current_lanelets, ego_pose, ¤t_lane); - DiagnosticStatus status; - status.name = "ego_lane_info"; - status.level = status.OK; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "lane_id"; - key_value.value = std::to_string(current_lane.id()); - status.values.push_back(key_value); - key_value.key = "s"; - key_value.value = std::to_string(arc_coordinates.length); - status.values.push_back(key_value); - key_value.key = "t"; - key_value.value = std::to_string(arc_coordinates.distance); - status.values.push_back(key_value); - return status; + const std::string base_name = "ego_lane_info/"; + MetricMsg metric_msg; + + { + metric_msg.name = base_name + "lane_id"; + metric_msg.value = std::to_string(current_lane.id()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "s"; + metric_msg.value = std::to_string(arc_coordinates.length); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "t"; + metric_msg.value = std::to_string(arc_coordinates.distance); + metrics_msg_.metric_array.push_back(metric_msg); + } + return; } -DiagnosticStatus ControlEvaluatorNode::generateKinematicStateDiagnosticStatus( +void ControlEvaluatorNode::AddKinematicStateMetricMsg( const Odometry & odom, const AccelWithCovarianceStamped & accel_stamped) { - DiagnosticStatus status; - status.name = "kinematic_state"; - status.level = status.OK; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "vel"; - key_value.value = std::to_string(odom.twist.twist.linear.x); - status.values.push_back(key_value); - key_value.key = "acc"; + const std::string base_name = "kinematic_state/"; + MetricMsg metric_msg; + + metric_msg.name = base_name + "vel"; + metric_msg.value = std::to_string(odom.twist.twist.linear.x); + metrics_msg_.metric_array.push_back(metric_msg); + + metric_msg.name = base_name + "acc"; const auto & acc = accel_stamped.accel.accel.linear.x; - key_value.value = std::to_string(acc); - status.values.push_back(key_value); - key_value.key = "jerk"; + metric_msg.value = std::to_string(acc); + metrics_msg_.metric_array.push_back(metric_msg); + const auto jerk = [&]() { if (!prev_acc_stamped_.has_value()) { prev_acc_stamped_ = accel_stamped; @@ -149,138 +131,109 @@ DiagnosticStatus ControlEvaluatorNode::generateKinematicStateDiagnosticStatus( prev_acc_stamped_ = accel_stamped; return (acc - prev_acc) / dt; }(); - key_value.value = std::to_string(jerk); - status.values.push_back(key_value); - return status; + + metric_msg.name = base_name + "jerk"; + metric_msg.value = std::to_string(jerk); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateLateralDeviationDiagnosticStatus( +void ControlEvaluatorNode::AddLateralDeviationMetricMsg( const Trajectory & traj, const Point & ego_point) { const double lateral_deviation = metrics::calcLateralDeviation(traj, ego_point); - DiagnosticStatus status; - status.level = status.OK; - status.name = "lateral_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metric_value"; - key_value.value = std::to_string(lateral_deviation); - status.values.push_back(key_value); - - return status; + MetricMsg metric_msg; + metric_msg.name = "lateral_deviation"; + metric_msg.value = std::to_string(lateral_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateYawDeviationDiagnosticStatus( - const Trajectory & traj, const Pose & ego_pose) +void ControlEvaluatorNode::AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose) { const double yaw_deviation = metrics::calcYawDeviation(traj, ego_pose); - DiagnosticStatus status; - status.level = status.OK; - status.name = "yaw_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metric_value"; - key_value.value = std::to_string(yaw_deviation); - status.values.push_back(key_value); - - return status; + MetricMsg metric_msg; + metric_msg.name = "yaw_deviation"; + metric_msg.value = std::to_string(yaw_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateGoalLongitudinalDeviationDiagnosticStatus( - const Pose & ego_pose) +void ControlEvaluatorNode::AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose) { - DiagnosticStatus status; const double longitudinal_deviation = metrics::calcLongitudinalDeviation(route_handler_.getGoalPose(), ego_pose.position); - status.level = status.OK; - status.name = "goal_longitudinal_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metrics_value"; - key_value.value = std::to_string(longitudinal_deviation); - status.values.push_back(key_value); - return status; + MetricMsg metric_msg; + metric_msg.name = "goal_longitudinal_deviation"; + metric_msg.value = std::to_string(longitudinal_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateGoalLateralDeviationDiagnosticStatus( - const Pose & ego_pose) +void ControlEvaluatorNode::AddGoalLateralDeviationMetricMsg(const Pose & ego_pose) { - DiagnosticStatus status; const double lateral_deviation = metrics::calcLateralDeviation(route_handler_.getGoalPose(), ego_pose.position); - status.level = status.OK; - status.name = "goal_lateral_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metrics_value"; - key_value.value = std::to_string(lateral_deviation); - status.values.push_back(key_value); - return status; + MetricMsg metric_msg; + metric_msg.name = "goal_lateral_deviation"; + metric_msg.value = std::to_string(lateral_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateGoalYawDeviationDiagnosticStatus( - const Pose & ego_pose) +void ControlEvaluatorNode::AddGoalYawDeviationMetricMsg(const Pose & ego_pose) { - DiagnosticStatus status; const double yaw_deviation = metrics::calcYawDeviation(route_handler_.getGoalPose(), ego_pose); - status.level = status.OK; - status.name = "goal_yaw_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metrics_value"; - key_value.value = std::to_string(yaw_deviation); - status.values.push_back(key_value); - return status; + MetricMsg metric_msg; + metric_msg.name = "goal_yaw_deviation"; + metric_msg.value = std::to_string(yaw_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } void ControlEvaluatorNode::onTimer() { - DiagnosticArray metrics_msg; + autoware::universe_utils::StopWatch stop_watch; const auto traj = traj_sub_.takeData(); const auto odom = odometry_sub_.takeData(); const auto acc = accel_sub_.takeData(); - // generate decision diagnostics from input diagnostics - for (const auto & function : target_functions_) { - const auto it = std::find_if( - diag_queue_.begin(), diag_queue_.end(), - [&function](const std::pair & p) { - return p.first.name.find(function) != std::string::npos; - }); - if (it == diag_queue_.end()) { - continue; - } - // generate each decision diagnostics - // - AEB decision - if (it->first.name.find("autonomous_emergency_braking") != std::string::npos) { - metrics_msg.status.push_back(generateAEBDiagnosticStatus(it->first)); - } - } - // calculate deviation metrics if (odom && traj && !traj->points.empty()) { const Pose ego_pose = odom->pose.pose; - metrics_msg.status.push_back( - generateLateralDeviationDiagnosticStatus(*traj, ego_pose.position)); - metrics_msg.status.push_back(generateYawDeviationDiagnosticStatus(*traj, ego_pose)); + AddLateralDeviationMetricMsg(*traj, ego_pose.position); + AddYawDeviationMetricMsg(*traj, ego_pose); } getRouteData(); if (odom && route_handler_.isHandlerReady()) { const Pose ego_pose = odom->pose.pose; - metrics_msg.status.push_back(generateLaneletDiagnosticStatus(ego_pose)); + AddLaneletMetricMsg(ego_pose); - metrics_msg.status.push_back(generateGoalLongitudinalDeviationDiagnosticStatus(ego_pose)); - metrics_msg.status.push_back(generateGoalLateralDeviationDiagnosticStatus(ego_pose)); - metrics_msg.status.push_back(generateGoalYawDeviationDiagnosticStatus(ego_pose)); + AddGoalLongitudinalDeviationMetricMsg(ego_pose); + AddGoalLateralDeviationMetricMsg(ego_pose); + AddGoalYawDeviationMetricMsg(ego_pose); } if (odom && acc) { - metrics_msg.status.push_back(generateKinematicStateDiagnosticStatus(*odom, *acc)); + AddKinematicStateMetricMsg(*odom, *acc); } - metrics_msg.header.stamp = now(); - metrics_pub_->publish(metrics_msg); + // Publish metrics + metrics_msg_.stamp = now(); + metrics_pub_->publish(metrics_msg_); + metrics_msg_ = MetricArrayMsg{}; + + // Publish processing time + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + processing_time_pub_->publish(processing_time_msg); } } // namespace control_diagnostics diff --git a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp index ca51721fa1932..0a2f777e49b61 100644 --- a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp @@ -21,8 +21,8 @@ #include #include "autoware_planning_msgs/msg/trajectory.hpp" -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" +#include #include "boost/lexical_cast.hpp" @@ -36,7 +36,8 @@ using EvalNode = control_diagnostics::ControlEvaluatorNode; using Trajectory = autoware_planning_msgs::msg::Trajectory; using TrajectoryPoint = autoware_planning_msgs::msg::TrajectoryPoint; -using diagnostic_msgs::msg::DiagnosticArray; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; +using geometry_msgs::msg::AccelWithCovarianceStamped; using nav_msgs::msg::Odometry; constexpr double epsilon = 1e-6; @@ -69,6 +70,8 @@ class EvalTest : public ::testing::Test rclcpp::create_publisher(dummy_node, "/control_evaluator/input/trajectory", 1); odom_pub_ = rclcpp::create_publisher(dummy_node, "/control_evaluator/input/odometry", 1); + acc_pub_ = rclcpp::create_publisher( + dummy_node, "/control_evaluator/input/acceleration", 1); tf_broadcaster_ = std::make_unique(dummy_node); publishEgoPose(0.0, 0.0, 0.0); } @@ -77,14 +80,15 @@ class EvalTest : public ::testing::Test void setTargetMetric(const std::string & metric_str) { - const auto is_target_metric = [metric_str](const auto & status) { - return status.name == metric_str; + const auto is_target_metric = [metric_str](const auto & metric) { + return metric.name == metric_str; }; - metric_sub_ = rclcpp::create_subscription( - dummy_node, "/control_evaluator/metrics", 1, [=](const DiagnosticArray::ConstSharedPtr msg) { - const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric); - if (it != msg->status.end()) { - metric_value_ = boost::lexical_cast(it->values[0].value); + metric_sub_ = rclcpp::create_subscription( + dummy_node, "/control_evaluator/metrics", 1, [=](const MetricArrayMsg::ConstSharedPtr msg) { + const auto it = + std::find_if(msg->metric_array.begin(), msg->metric_array.end(), is_target_metric); + if (it != msg->metric_array.end()) { + metric_value_ = boost::lexical_cast(it->value); metric_updated_ = true; } }); @@ -106,9 +110,7 @@ class EvalTest : public ::testing::Test void publishTrajectory(const Trajectory & traj) { traj_pub_->publish(traj); - rclcpp::spin_some(eval_node); - rclcpp::spin_some(dummy_node); - rclcpp::sleep_for(std::chrono::milliseconds(100)); + spin_some(); } double publishTrajectoryAndGetMetric(const Trajectory & traj) @@ -116,9 +118,7 @@ class EvalTest : public ::testing::Test metric_updated_ = false; traj_pub_->publish(traj); while (!metric_updated_) { - rclcpp::spin_some(eval_node); - rclcpp::spin_some(dummy_node); - rclcpp::sleep_for(std::chrono::milliseconds(100)); + spin_some(); } return metric_value_; } @@ -137,8 +137,36 @@ class EvalTest : public ::testing::Test odom.pose.pose.orientation.y = q.y(); odom.pose.pose.orientation.z = q.z(); odom.pose.pose.orientation.w = q.w(); - odom_pub_->publish(odom); + spin_some(); + } + + void publishEgoAcc(const double acc1) + { + AccelWithCovarianceStamped acc_msg; + acc_msg.header.frame_id = "baselink"; + acc_msg.header.stamp = dummy_node->now(); + acc_msg.accel.accel.linear.x = acc1; + acc_pub_->publish(acc_msg); + spin_some(); + } + + double publishEgoAccAndGetMetric(const double acc) + { + metric_updated_ = false; + AccelWithCovarianceStamped acc_msg; + acc_msg.header.frame_id = "baselink"; + + acc_msg.header.stamp = dummy_node->now(); + acc_msg.accel.accel.linear.x = acc; + acc_pub_->publish(acc_msg); + while (!metric_updated_) { + spin_some(); + } + return metric_value_; + } + void spin_some() + { rclcpp::spin_some(eval_node); rclcpp::spin_some(dummy_node); rclcpp::sleep_for(std::chrono::milliseconds(100)); @@ -150,10 +178,11 @@ class EvalTest : public ::testing::Test // Node rclcpp::Node::SharedPtr dummy_node; EvalNode::SharedPtr eval_node; - // Trajectory publishers + // publishers rclcpp::Publisher::SharedPtr traj_pub_; rclcpp::Publisher::SharedPtr odom_pub_; - rclcpp::Subscription::SharedPtr metric_sub_; + rclcpp::Publisher::SharedPtr acc_pub_; + rclcpp::Subscription::SharedPtr metric_sub_; // TF broadcaster std::unique_ptr tf_broadcaster_; }; @@ -195,3 +224,23 @@ TEST_F(EvalTest, TestLateralDeviation) publishEgoPose(1.0, 1.0, 0.0); EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 1.0, epsilon); } + +TEST_F(EvalTest, TestKinematicStateAcc) +{ + setTargetMetric("kinematic_state/acc"); + Trajectory t = makeTrajectory({{0.0, 0.0}, {1.0, 0.0}}); + publishTrajectory(t); + publishEgoPose(0.0, 0.0, 0.0); + EXPECT_NEAR(publishEgoAccAndGetMetric(2.0), 2.0, epsilon); +} + +TEST_F(EvalTest, TestKinematicStateJerk) +{ + setTargetMetric("kinematic_state/jerk"); + Trajectory t = makeTrajectory({{0.0, 0.0}, {1.0, 0.0}}); + publishTrajectory(t); + publishEgoPose(0.0, 0.0, 0.0); + // there is about 0.1 sec delay in spin_some + publishEgoAcc(0.0); + EXPECT_NEAR(publishEgoAccAndGetMetric(1), 10.0, 0.5); +} diff --git a/evaluator/autoware_evaluator_utils/CHANGELOG.rst b/evaluator/autoware_evaluator_utils/CHANGELOG.rst deleted file mode 100644 index 473f358114507..0000000000000 --- a/evaluator/autoware_evaluator_utils/CHANGELOG.rst +++ /dev/null @@ -1,17 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_evaluator_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) - * add utils and diagnostics subscription to planning_evaluator - * add diagnostics eval - * fix input diag in launch - --------- - Co-authored-by: kosuke55 -* Contributors: Yutaka Kondo, danielsanchezaran - -0.26.0 (2024-04-03) -------------------- diff --git a/evaluator/autoware_evaluator_utils/CMakeLists.txt b/evaluator/autoware_evaluator_utils/CMakeLists.txt deleted file mode 100644 index d75ed43a4e3cb..0000000000000 --- a/evaluator/autoware_evaluator_utils/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_evaluator_utils) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(evaluator_utils SHARED - src/evaluator_utils.cpp -) - -ament_auto_package( - INSTALL_TO_SHARE -) diff --git a/evaluator/autoware_evaluator_utils/README.md b/evaluator/autoware_evaluator_utils/README.md deleted file mode 100644 index b0db86f86b5c0..0000000000000 --- a/evaluator/autoware_evaluator_utils/README.md +++ /dev/null @@ -1,5 +0,0 @@ -# Evaluator Utils - -## Purpose - -This package provides utils functions for other evaluator packages diff --git a/evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp b/evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp deleted file mode 100644 index 3b91c9d7605e0..0000000000000 --- a/evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp +++ /dev/null @@ -1,45 +0,0 @@ -// Copyright 2024 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EVALUATOR_UTILS__EVALUATOR_UTILS_HPP_ -#define AUTOWARE__EVALUATOR_UTILS__EVALUATOR_UTILS_HPP_ - -#include - -#include - -#include -#include -#include -#include -#include - -namespace autoware::evaluator_utils -{ - -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; -using DiagnosticQueue = std::deque>; - -void removeOldDiagnostics(const rclcpp::Time & stamp, DiagnosticQueue & diag_queue); -void removeDiagnosticsByName(const std::string & name, DiagnosticQueue & diag_queue); -void addDiagnostic( - const DiagnosticStatus & diag, const rclcpp::Time & stamp, DiagnosticQueue & diag_queue); -void updateDiagnosticQueue( - const DiagnosticArray & input_diagnostics, const std::string & function, - const rclcpp::Time & stamp, DiagnosticQueue & diag_queue); - -} // namespace autoware::evaluator_utils - -#endif // AUTOWARE__EVALUATOR_UTILS__EVALUATOR_UTILS_HPP_ diff --git a/evaluator/autoware_evaluator_utils/package.xml b/evaluator/autoware_evaluator_utils/package.xml deleted file mode 100644 index 7176abdc7be0a..0000000000000 --- a/evaluator/autoware_evaluator_utils/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - autoware_evaluator_utils - 0.38.0 - ROS 2 node for evaluating control - Daniel SANCHEZ - Takayuki MUROOKA - Apache License 2.0 - - Daniel SANCHEZ - Takayuki MUROOKA - - ament_cmake_auto - autoware_cmake - - diagnostic_msgs - rclcpp - rclcpp_components - - - ament_cmake - - diff --git a/evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp b/evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp deleted file mode 100644 index 293db21f50e7f..0000000000000 --- a/evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp +++ /dev/null @@ -1,66 +0,0 @@ -// Copyright 2024 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/evaluator_utils/evaluator_utils.hpp" - -#include - -namespace autoware::evaluator_utils -{ -void removeOldDiagnostics(const rclcpp::Time & stamp, DiagnosticQueue & diag_queue) -{ - constexpr double KEEP_TIME = 1.0; - diag_queue.erase( - std::remove_if( - diag_queue.begin(), diag_queue.end(), - [stamp](const std::pair & p) { - return (stamp - p.second).seconds() > KEEP_TIME; - }), - diag_queue.end()); -} - -void removeDiagnosticsByName(const std::string & name, DiagnosticQueue & diag_queue) -{ - diag_queue.erase( - std::remove_if( - diag_queue.begin(), diag_queue.end(), - [&name](const std::pair & p) { - return p.first.name.find(name) != std::string::npos; - }), - diag_queue.end()); -} - -void addDiagnostic( - const DiagnosticStatus & diag, const rclcpp::Time & stamp, DiagnosticQueue & diag_queue) -{ - diag_queue.push_back(std::make_pair(diag, stamp)); -} - -void updateDiagnosticQueue( - const DiagnosticArray & input_diagnostics, const std::string & function, - const rclcpp::Time & stamp, DiagnosticQueue & diag_queue) -{ - const auto it = std::find_if( - input_diagnostics.status.begin(), input_diagnostics.status.end(), - [&function](const DiagnosticStatus & diag) { - return diag.name.find(function) != std::string::npos; - }); - if (it != input_diagnostics.status.end()) { - removeDiagnosticsByName(it->name, diag_queue); - addDiagnostic(*it, input_diagnostics.header.stamp, diag_queue); - } - - removeOldDiagnostics(stamp, diag_queue); -} -} // namespace autoware::evaluator_utils diff --git a/evaluator/autoware_planning_evaluator/CHANGELOG.rst b/evaluator/autoware_planning_evaluator/CHANGELOG.rst index 85a79a079d404..cf4aaf2e7fc94 100644 --- a/evaluator/autoware_planning_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_planning_evaluator/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_planning_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_planning_evaluator): devops node dojo (`#8746 `_) -* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) +* refactor(autoware_planning_evaluator): devops node dojo (`#8746 `_) +* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) * tmp save. * publish diagnostics. * move clearDiagnostics func to head @@ -23,15 +23,15 @@ Changelog for package autoware_planning_evaluator Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix(autoware_planning_evaluator): fix unreadVariable (`#8352 `_) +* fix(autoware_planning_evaluator): fix unreadVariable (`#8352 `_) * fix:unreadVariable * fix:unreadVariable --------- -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -40,32 +40,32 @@ Changelog for package autoware_planning_evaluator Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) +* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) * add cruise and slow down diags to cruise planner * add cruise types * adjust planning eval --------- -* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) +* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) * add utils and diagnostics subscription to planning_evaluator * add diagnostics eval * fix input diag in launch --------- Co-authored-by: kosuke55 -* feat(planning_evaluator): add planning evaluator polling sub (`#7827 `_) +* feat(planning_evaluator): add planning evaluator polling sub (`#7827 `_) * WIP add polling subs * WIP * update functions * remove semicolon * use last data for modified goal --------- -* feat(planning_evaluator): add lanelet info to the planning evaluator (`#7781 `_) +* feat(planning_evaluator): add lanelet info to the planning evaluator (`#7781 `_) add lanelet info to the planning evaluator -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) +* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) * fix * fix --------- diff --git a/evaluator/autoware_planning_evaluator/CMakeLists.txt b/evaluator/autoware_planning_evaluator/CMakeLists.txt index 371182bd2e388..23959cefdcca4 100644 --- a/evaluator/autoware_planning_evaluator/CMakeLists.txt +++ b/evaluator/autoware_planning_evaluator/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.14) +cmake_minimum_required(VERSION 3.22) project(autoware_planning_evaluator) find_package(autoware_cmake REQUIRED) diff --git a/evaluator/autoware_planning_evaluator/README.md b/evaluator/autoware_planning_evaluator/README.md index d03603e51351a..d09949bd69b0e 100644 --- a/evaluator/autoware_planning_evaluator/README.md +++ b/evaluator/autoware_planning_evaluator/README.md @@ -58,9 +58,9 @@ Adding a new metric `M` requires the following steps: Each metric is published on a topic named after the metric name. -| Name | Type | Description | -| ----------- | --------------------------------------- | ------------------------------------------------------- | -| `~/metrics` | `diagnostic_msgs::msg::DiagnosticArray` | DiagnosticArray with a DiagnosticStatus for each metric | +| Name | Type | Description | +| ----------- | ------------------------------------- | ----------------------------------------------------------------- | +| `~/metrics` | `tier4_metric_msgs::msg::MetricArray` | MetricArray with many metrics of `tier4_metric_msgs::msg::Metric` | When shut down, the evaluation node writes the values of the metrics measured during its lifetime to a file as specified by the `output_file` parameter. diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index 4a84bdd2ffcd5..81787741a7583 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -28,17 +28,16 @@ #include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" #include -#include +#include +#include #include #include #include #include -#include #include namespace planning_diagnostics { @@ -46,8 +45,8 @@ using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::PoseWithUuidStamped; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; +using MetricMsg = tier4_metric_msgs::msg::Metric; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using nav_msgs::msg::Odometry; using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin; using autoware_planning_msgs::msg::LaneletRoute; @@ -94,31 +93,20 @@ class PlanningEvaluatorNode : public rclcpp::Node const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg, const Odometry::ConstSharedPtr ego_state_ptr); - /** - * @brief obtain diagnostics information - */ - void onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg); - /** * @brief publish the given metric statistic */ - DiagnosticStatus generateDiagnosticStatus( - const Metric & metric, const Stat & metric_stat) const; + void AddMetricMsg(const Metric & metric, const Stat & metric_stat); /** * @brief publish current ego lane info */ - DiagnosticStatus generateDiagnosticEvaluationStatus(const DiagnosticStatus & diag); - - /** - * @brief publish current ego lane info - */ - DiagnosticStatus generateLaneletDiagnosticStatus(const Odometry::ConstSharedPtr ego_state_ptr); + void AddLaneletMetricMsg(const Odometry::ConstSharedPtr ego_state_ptr); /** * @brief publish current ego kinematic state */ - DiagnosticStatus generateKinematicStateDiagnosticStatus( + void AddKinematicStateMetricMsg( const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr); private: @@ -134,15 +122,6 @@ class PlanningEvaluatorNode : public rclcpp::Node */ void onTimer(); - /** - * @brief fetch topic data - */ - void fetchData(); - // The diagnostics cycle is faster than timer, and each node publishes diagnostic separately. - // takeData() in onTimer() with a polling subscriber will miss a topic, so save all topics with - // onDiagnostics(). - rclcpp::Subscription::SharedPtr planning_diag_sub_; - // ROS autoware::universe_utils::InterProcessPollingSubscriber traj_sub_{ this, "~/input/trajectory"}; @@ -163,12 +142,14 @@ class PlanningEvaluatorNode : public rclcpp::Node autoware::universe_utils::InterProcessPollingSubscriber accel_sub_{ this, "~/input/acceleration"}; - rclcpp::Publisher::SharedPtr metrics_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; std::shared_ptr transform_listener_{nullptr}; std::unique_ptr tf_buffer_; autoware::route_handler::RouteHandler route_handler_; - DiagnosticArray metrics_msg_; + // Message to publish + MetricArrayMsg metrics_msg_; + // Parameters std::string output_file_str_; std::string ego_frame_str_; @@ -181,19 +162,6 @@ class PlanningEvaluatorNode : public rclcpp::Node std::array>, static_cast(Metric::SIZE)> metric_stats_; rclcpp::TimerBase::SharedPtr timer_; - // queue for diagnostics and time stamp - std::deque> diag_queue_; - const std::vector target_functions_ = { - "obstacle_cruise_planner_stop", - "obstacle_cruise_planner_slow_down", - "obstacle_cruise_planner_cruise", - "autoware::motion_velocity_planner::OutOfLaneModule.stop", - "autoware::motion_velocity_planner::OutOfLaneModule.slow_down", - "autoware::motion_velocity_planner::ObstacleVelocityLimiterModule.stop", - "autoware::motion_velocity_planner::ObstacleVelocityLimiterModule.slow_down", - "autoware::motion_velocity_planner::DynamicObstacleStopModule.stop", - "autoware::motion_velocity_planner::DynamicObstacleStopModule.slow_down", - }; std::optional prev_acc_stamped_{std::nullopt}; }; } // namespace planning_diagnostics diff --git a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml index e20cda378f188..90c205dd55f1f 100644 --- a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml +++ b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml @@ -7,7 +7,6 @@ - @@ -16,13 +15,11 @@ - - diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 38d83d46e915d..572c99d8ac3a5 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -6,6 +6,7 @@ ROS 2 node for evaluating planners Maxime CLEMENT Kyoichi Sugahara + Temkei Kem Apache License 2.0 Maxime CLEMENT @@ -13,13 +14,11 @@ ament_cmake_auto autoware_cmake - autoware_evaluator_utils autoware_motion_utils autoware_perception_msgs autoware_planning_msgs autoware_route_handler autoware_universe_utils - diagnostic_msgs eigen geometry_msgs nav_msgs @@ -28,6 +27,7 @@ rclcpp_components tf2 tf2_ros + tier4_metric_msgs ament_cmake_ros ament_lint_auto diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index d378d55dd2a46..a1d7c75891f4a 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -14,8 +14,6 @@ #include "autoware/planning_evaluator/planning_evaluator_node.hpp" -#include "autoware/evaluator_utils/evaluator_utils.hpp" - #include #include @@ -23,13 +21,10 @@ #include "boost/lexical_cast.hpp" -#include #include #include -#include #include #include -#include #include namespace planning_diagnostics @@ -58,11 +53,8 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op output_file_str_ = declare_parameter("output_file"); ego_frame_str_ = declare_parameter("ego_frame"); - planning_diag_sub_ = create_subscription( - "~/input/diagnostics", 1, std::bind(&PlanningEvaluatorNode::onDiagnostics, this, _1)); - // List of metrics to calculate and publish - metrics_pub_ = create_publisher("~/metrics", 1); + metrics_pub_ = create_publisher("~/metrics", 1); for (const std::string & selected_metric : declare_parameter>("selected_metrics")) { Metric metric = str_to_metric.at(selected_metric); @@ -103,43 +95,6 @@ PlanningEvaluatorNode::~PlanningEvaluatorNode() } } -void PlanningEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg) -{ - // add target diagnostics to the queue and remove old ones - for (const auto & function : target_functions_) { - autoware::evaluator_utils::updateDiagnosticQueue(*diag_msg, function, now(), diag_queue_); - } -} - -DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticEvaluationStatus( - const DiagnosticStatus & diag) -{ - DiagnosticStatus status; - status.name = diag.name; - - const auto it = std::find_if(diag.values.begin(), diag.values.end(), [](const auto & key_value) { - return key_value.key.find("decision") != std::string::npos; - }); - const bool found = it != diag.values.end(); - status.level = (found) ? status.OK : status.ERROR; - - auto get_key_value = [&]() { - if (!found) { - return diagnostic_msgs::msg::KeyValue{}; - } - if (it->value.find("none") != std::string::npos) { - return *it; - } - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "decision"; - key_value.value = "deceleration"; - return key_value; - }; - - status.values.push_back(get_key_value()); - return status; -} - void PlanningEvaluatorNode::getRouteData() { // route @@ -163,8 +118,7 @@ void PlanningEvaluatorNode::getRouteData() } } -DiagnosticStatus PlanningEvaluatorNode::generateLaneletDiagnosticStatus( - const Odometry::ConstSharedPtr ego_state_ptr) +void PlanningEvaluatorNode::AddLaneletMetricMsg(const Odometry::ConstSharedPtr ego_state_ptr) { const auto & ego_pose = ego_state_ptr->pose.pose; const auto current_lanelets = [&]() { @@ -180,37 +134,45 @@ DiagnosticStatus PlanningEvaluatorNode::generateLaneletDiagnosticStatus( lanelet::ConstLanelet current_lane; lanelet::utils::query::getClosestLanelet(current_lanelets, ego_pose, ¤t_lane); - DiagnosticStatus status; - status.name = "ego_lane_info"; - status.level = status.OK; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "lane_id"; - key_value.value = std::to_string(current_lane.id()); - status.values.push_back(key_value); - key_value.key = "s"; - key_value.value = std::to_string(arc_coordinates.length); - status.values.push_back(key_value); - key_value.key = "t"; - key_value.value = std::to_string(arc_coordinates.distance); - status.values.push_back(key_value); - return status; + // push_back lanelet info to MetricArrayMsg + const std::string base_name = "ego_lane_info/"; + MetricMsg metric_msg; + + { + metric_msg.name = base_name + "lane_id"; + metric_msg.value = std::to_string(current_lane.id()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "s"; + metric_msg.value = std::to_string(arc_coordinates.length); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "t"; + metric_msg.value = std::to_string(arc_coordinates.distance); + metrics_msg_.metric_array.push_back(metric_msg); + } + return; } -DiagnosticStatus PlanningEvaluatorNode::generateKinematicStateDiagnosticStatus( +void PlanningEvaluatorNode::AddKinematicStateMetricMsg( const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr) { - DiagnosticStatus status; - status.name = "kinematic_state"; - status.level = status.OK; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "vel"; - key_value.value = std::to_string(ego_state_ptr->twist.twist.linear.x); - status.values.push_back(key_value); - key_value.key = "acc"; + const std::string base_name = "kinematic_state/"; + MetricMsg metric_msg; + + metric_msg.name = base_name + "vel"; + metric_msg.value = std::to_string(ego_state_ptr->twist.twist.linear.x); + metrics_msg_.metric_array.push_back(metric_msg); + + metric_msg.name = base_name + "acc"; const auto & acc = accel_stamped.accel.accel.linear.x; - key_value.value = std::to_string(acc); - status.values.push_back(key_value); - key_value.key = "jerk"; + metric_msg.value = std::to_string(acc); + metrics_msg_.metric_array.push_back(metric_msg); + const auto jerk = [&]() { if (!prev_acc_stamped_.has_value()) { prev_acc_stamped_ = accel_stamped; @@ -227,34 +189,39 @@ DiagnosticStatus PlanningEvaluatorNode::generateKinematicStateDiagnosticStatus( prev_acc_stamped_ = accel_stamped; return (acc - prev_acc) / dt; }(); - key_value.value = std::to_string(jerk); - status.values.push_back(key_value); - return status; + metric_msg.name = base_name + "jerk"; + metric_msg.value = std::to_string(jerk); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticStatus( - const Metric & metric, const Stat & metric_stat) const +void PlanningEvaluatorNode::AddMetricMsg(const Metric & metric, const Stat & metric_stat) { - DiagnosticStatus status; - status.level = status.OK; - status.name = metric_to_str.at(metric); - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "min"; - key_value.value = boost::lexical_cast(metric_stat.min()); - status.values.push_back(key_value); - key_value.key = "max"; - key_value.value = boost::lexical_cast(metric_stat.max()); - status.values.push_back(key_value); - key_value.key = "mean"; - key_value.value = boost::lexical_cast(metric_stat.mean()); - status.values.push_back(key_value); - return status; + const std::string base_name = metric_to_str.at(metric) + "/"; + MetricMsg metric_msg; + { + metric_msg.name = base_name + "min"; + metric_msg.value = boost::lexical_cast(metric_stat.min()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "max"; + metric_msg.value = boost::lexical_cast(metric_stat.max()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "mean"; + metric_msg.value = boost::lexical_cast(metric_stat.mean()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + return; } void PlanningEvaluatorNode::onTimer() { - metrics_msg_.header.stamp = now(); - const auto ego_state_ptr = odometry_sub_.takeData(); onOdometry(ego_state_ptr); { @@ -276,26 +243,10 @@ void PlanningEvaluatorNode::onTimer() onModifiedGoal(modified_goal_msg, ego_state_ptr); } - { - // generate decision diagnostics from input diagnostics - for (const auto & function : target_functions_) { - const auto it = std::find_if( - diag_queue_.begin(), diag_queue_.end(), - [&function](const std::pair & p) { - return p.first.name.find(function) != std::string::npos; - }); - if (it == diag_queue_.end()) { - continue; - } - // generate each decision diagnostics - metrics_msg_.status.push_back(generateDiagnosticEvaluationStatus(it->first)); - } - } - - if (!metrics_msg_.status.empty()) { - metrics_pub_->publish(metrics_msg_); - } - metrics_msg_ = DiagnosticArray{}; + // Publish metrics + metrics_msg_.stamp = now(); + metrics_pub_->publish(metrics_msg_); + metrics_msg_ = MetricArrayMsg{}; } void PlanningEvaluatorNode::onTrajectory( @@ -321,7 +272,7 @@ void PlanningEvaluatorNode::onTrajectory( } if (metric_stat->count() > 0) { - metrics_msg_.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); + AddMetricMsg(metric, *metric_stat); } } @@ -347,7 +298,7 @@ void PlanningEvaluatorNode::onModifiedGoal( } metric_stats_[static_cast(metric)].push_back(*metric_stat); if (metric_stat->count() > 0) { - metrics_msg_.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); + AddMetricMsg(metric, *metric_stat); } } auto runtime = (now() - start).seconds(); @@ -363,12 +314,12 @@ void PlanningEvaluatorNode::onOdometry(const Odometry::ConstSharedPtr odometry_m { getRouteData(); if (route_handler_.isHandlerReady() && odometry_msg) { - metrics_msg_.status.push_back(generateLaneletDiagnosticStatus(odometry_msg)); + AddLaneletMetricMsg(odometry_msg); } const auto acc_msg = accel_sub_.takeData(); if (acc_msg && odometry_msg) { - metrics_msg_.status.push_back(generateKinematicStateDiagnosticStatus(*acc_msg, odometry_msg)); + AddKinematicStateMetricMsg(*acc_msg, odometry_msg); } } } diff --git a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp index 9f797500bc5f0..ac99d164708ba 100644 --- a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -22,8 +22,8 @@ #include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" +#include #include "boost/lexical_cast.hpp" @@ -37,7 +37,7 @@ using Trajectory = autoware_planning_msgs::msg::Trajectory; using TrajectoryPoint = autoware_planning_msgs::msg::TrajectoryPoint; using Objects = autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::PoseWithUuidStamped; -using diagnostic_msgs::msg::DiagnosticArray; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using nav_msgs::msg::Odometry; constexpr double epsilon = 1e-6; @@ -86,17 +86,18 @@ class EvalTest : public ::testing::Test ~EvalTest() override { rclcpp::shutdown(); } - void setTargetMetric(planning_diagnostics::Metric metric) + void setTargetMetric(planning_diagnostics::Metric metric, const std::string & postfix = "/mean") { const auto metric_str = planning_diagnostics::metric_to_str.at(metric); - const auto is_target_metric = [metric_str](const auto & status) { - return status.name == metric_str; + const auto is_target_metric = [metric_str, postfix](const auto & metric) { + return metric.name == metric_str + postfix; }; - metric_sub_ = rclcpp::create_subscription( - dummy_node, "/planning_evaluator/metrics", 1, [=](const DiagnosticArray::ConstSharedPtr msg) { - const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric); - if (it != msg->status.end()) { - metric_value_ = boost::lexical_cast(it->values[2].value); + metric_sub_ = rclcpp::create_subscription( + dummy_node, "/planning_evaluator/metrics", 1, [=](const MetricArrayMsg::ConstSharedPtr msg) { + const auto it = + std::find_if(msg->metric_array.begin(), msg->metric_array.end(), is_target_metric); + if (it != msg->metric_array.end()) { + metric_value_ = boost::lexical_cast(it->value); metric_updated_ = true; } }); @@ -207,7 +208,7 @@ class EvalTest : public ::testing::Test rclcpp::Publisher::SharedPtr objects_pub_; rclcpp::Publisher::SharedPtr modified_goal_pub_; rclcpp::Publisher::SharedPtr odom_pub_; - rclcpp::Subscription::SharedPtr metric_sub_; + rclcpp::Subscription::SharedPtr metric_sub_; // TF broadcaster std::unique_ptr tf_broadcaster_; }; diff --git a/evaluator/diagnostic_converter/README.md b/evaluator/diagnostic_converter/README.md deleted file mode 100644 index adc84c3967d25..0000000000000 --- a/evaluator/diagnostic_converter/README.md +++ /dev/null @@ -1,53 +0,0 @@ -# Planning Evaluator - -## Purpose - -This package provides a node to convert `diagnostic_msgs::msg::DiagnosticArray` messages -into `tier4_simulation_msgs::msg::UserDefinedValue` messages. - -## Inner-workings / Algorithms - -The node subscribes to all topics listed in the parameters and assumes they publish -`DiagnosticArray` messages. -Each time such message is received, -it is converted into as many `UserDefinedValue` messages as the number of `KeyValue` objects. -The format of the output topic is detailed in the _output_ section. - -## Inputs / Outputs - -### Inputs - -The node listens to `DiagnosticArray` messages on the topics specified in the parameters. - -### Outputs - -The node outputs `UserDefinedValue` messages that are converted from the received `DiagnosticArray`. - -The name of the output topics are generated from the corresponding input topic, the name of the diagnostic status, and the key of the diagnostic. -For example, we might listen to topic `/diagnostic_topic` and receive a `DiagnosticArray` with 2 status: - -- Status with `name: "x"`. - - Key: `a`. - - Key: `b`. -- Status with `name: "y"`. - - Key: `a`. - - Key: `c`. - -The resulting topics to publish the `UserDefinedValue` are as follows: - -- `/metrics_x_a`. -- `/metrics_x_b`. -- `/metrics_y_a`. -- `/metrics_y_c`. - -## Parameters - -| Name | Type | Description | -| :------------------ | :--------------- | :------------------------------------------------------------ | -| `diagnostic_topics` | list of `string` | list of DiagnosticArray topics to convert to UserDefinedValue | - -## Assumptions / Known limits - -Values in the `KeyValue` objects of a `DiagnosticStatus` are assumed to be of type `double`. - -## Future extensions / Unimplemented parts diff --git a/evaluator/diagnostic_converter/src/converter_node.cpp b/evaluator/diagnostic_converter/src/converter_node.cpp deleted file mode 100644 index 2a2574732694c..0000000000000 --- a/evaluator/diagnostic_converter/src/converter_node.cpp +++ /dev/null @@ -1,101 +0,0 @@ -// Copyright 2023 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "diagnostic_converter/converter_node.hpp" - -#include - -namespace -{ -std::string removeInvalidTopicString(const std::string & input_string) -{ - std::regex pattern{R"([a-zA-Z0-9/_]+)"}; - - std::string result; - for (std::sregex_iterator itr(std::begin(input_string), std::end(input_string), pattern), end; - itr != end; ++itr) { - result += itr->str(); - } - return result; -} - -std::string removeUnitString(const std::string & input_string) -{ - for (size_t i = 0; i < input_string.size(); ++i) { - if (input_string.at(i) == '[') { - if (i != 0 && input_string.at(i - 1) == ' ') { - // Blank is also removed - return std::string{input_string.begin(), input_string.begin() + i - 1}; - } - return std::string{input_string.begin(), input_string.begin() + i}; - } - } - return input_string; -} -} // namespace - -namespace diagnostic_converter -{ -DiagnosticConverter::DiagnosticConverter(const rclcpp::NodeOptions & node_options) -: Node("diagnostic_converter", node_options) -{ - using std::placeholders::_1; - - size_t sub_counter = 0; - std::vector diagnostic_topics; - declare_parameter>("diagnostic_topics", std::vector()); - get_parameter>("diagnostic_topics", diagnostic_topics); - for (const std::string & diagnostic_topic : diagnostic_topics) { - // std::function required with multiple arguments https://answers.ros.org/question/289207 - const std::function fn = - std::bind(&DiagnosticConverter::onDiagnostic, this, _1, sub_counter++, diagnostic_topic); - diagnostics_sub_.push_back(create_subscription(diagnostic_topic, 1, fn)); - } - params_pub_.resize(diagnostics_sub_.size()); -} - -void DiagnosticConverter::onDiagnostic( - const DiagnosticArray::ConstSharedPtr diag_msg, const size_t diag_idx, - const std::string & base_topic) -{ - for (const auto & status : diag_msg->status) { - std::string status_topic = base_topic + (status.name.empty() ? "" : "_" + status.name); - for (const auto & key_value : status.values) { - const auto valid_topic_name = removeInvalidTopicString(status_topic + "_" + key_value.key); - getPublisher(valid_topic_name, diag_idx)->publish(createUserDefinedValue(key_value)); - } - } -} - -UserDefinedValue DiagnosticConverter::createUserDefinedValue(const KeyValue & key_value) const -{ - UserDefinedValue param_msg; - param_msg.type.data = UserDefinedValueType::DOUBLE; - param_msg.value = removeUnitString(key_value.value); - return param_msg; -} - -rclcpp::Publisher::SharedPtr DiagnosticConverter::getPublisher( - const std::string & topic, const size_t pub_idx) -{ - auto & pubs = params_pub_[pub_idx]; - if (pubs.count(topic) == 0) { - pubs[topic] = create_publisher(topic, 1); - } - return pubs.at(topic); -} -} // namespace diagnostic_converter - -#include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_converter::DiagnosticConverter) diff --git a/evaluator/diagnostic_converter/test/test_converter_node.cpp b/evaluator/diagnostic_converter/test/test_converter_node.cpp deleted file mode 100644 index 167421f0777df..0000000000000 --- a/evaluator/diagnostic_converter/test/test_converter_node.cpp +++ /dev/null @@ -1,128 +0,0 @@ -// Copyright 2023 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "diagnostic_converter/converter_node.hpp" - -#include - -#include "diagnostic_msgs/msg/diagnostic_array.hpp" -#include "tier4_simulation_msgs/msg/user_defined_value.hpp" -#include "tier4_simulation_msgs/msg/user_defined_value_type.hpp" - -#include - -#include -#include -#include -#include - -using ConverterNode = diagnostic_converter::DiagnosticConverter; -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; -using diagnostic_msgs::msg::KeyValue; -using tier4_simulation_msgs::msg::UserDefinedValue; - -void waitForMsg( - bool & flag, const rclcpp::Node::SharedPtr node1, const rclcpp::Node::SharedPtr node2) -{ - while (!flag) { - rclcpp::spin_some(node1); - rclcpp::spin_some(node2); - rclcpp::sleep_for(std::chrono::milliseconds(100)); - } - flag = false; -} - -std::function generateCallback( - bool & flag, UserDefinedValue & msg) -{ - return [&](UserDefinedValue::ConstSharedPtr received_msg) { - flag = true; - msg = *received_msg; - }; -} - -TEST(ConverterNode, ConvertDiagnostics) -{ - const std::vector input_topics = {"/test1/diag", "/test2/diag"}; - - rclcpp::init(0, nullptr); - rclcpp::Node::SharedPtr dummy_node = std::make_shared("converter_test_node"); - - rclcpp::NodeOptions options; - options.append_parameter_override("diagnostic_topics", rclcpp::ParameterValue(input_topics)); - auto node = std::make_shared(options); - - { // Simple case with 1 resulting UserDefinedValue - bool msg_received = false; - UserDefinedValue param; - // DiagnosticArray publishers - const auto diag_pub = dummy_node->create_publisher(input_topics[0], 1); - // UserDefinedValue subscribers - const auto param_sub_a = dummy_node->create_subscription( - input_topics[0] + "_a", 1, generateCallback(msg_received, param)); - DiagnosticArray diag; - DiagnosticStatus status; - status.name = ""; - KeyValue key_value = KeyValue().set__key("a").set__value("1"); - status.values.push_back(key_value); - diag.status.push_back(status); - diag_pub->publish(diag); - waitForMsg(msg_received, node, dummy_node); - EXPECT_EQ(param.value, "1"); - } - { // Case with multiple UserDefinedValue converted from one DiagnosticArray - bool msg_received_xa = false; - bool msg_received_xb = false; - bool msg_received_ya = false; - bool msg_received_yb = false; - UserDefinedValue param_xa; - UserDefinedValue param_xb; - UserDefinedValue param_ya; - UserDefinedValue param_yb; - // DiagnosticArray publishers - const auto diag_pub = dummy_node->create_publisher(input_topics[1], 1); - // UserDefinedValue subscribers - const auto param_sub_xa = dummy_node->create_subscription( - input_topics[1] + "_x_a", 1, generateCallback(msg_received_xa, param_xa)); - const auto param_sub_xb = dummy_node->create_subscription( - input_topics[1] + "_x_b", 1, generateCallback(msg_received_xb, param_xb)); - const auto param_sub_ya = dummy_node->create_subscription( - input_topics[1] + "_y_a", 1, generateCallback(msg_received_ya, param_ya)); - const auto param_sub_yb = dummy_node->create_subscription( - input_topics[1] + "_y_b", 1, generateCallback(msg_received_yb, param_yb)); - DiagnosticArray diag; - DiagnosticStatus status_x; - status_x.name = "x"; - status_x.values.push_back(KeyValue().set__key("a").set__value("1")); - status_x.values.push_back(KeyValue().set__key("b").set__value("10")); - diag.status.push_back(status_x); - DiagnosticStatus status_y; - status_y.name = "y"; - status_y.values.push_back(KeyValue().set__key("a").set__value("9")); - status_y.values.push_back(KeyValue().set__key("b").set__value("6")); - diag.status.push_back(status_y); - diag_pub->publish(diag); - waitForMsg(msg_received_xa, node, dummy_node); - EXPECT_EQ(param_xa.value, "1"); - waitForMsg(msg_received_xb, node, dummy_node); - EXPECT_EQ(param_xb.value, "10"); - waitForMsg(msg_received_ya, node, dummy_node); - EXPECT_EQ(param_ya.value, "9"); - waitForMsg(msg_received_yb, node, dummy_node); - EXPECT_EQ(param_yb.value, "6"); - } - - rclcpp::shutdown(); -} diff --git a/evaluator/kinematic_evaluator/CHANGELOG.rst b/evaluator/kinematic_evaluator/CHANGELOG.rst index af256b8fed7d4..ceacbcf0b129d 100644 --- a/evaluator/kinematic_evaluator/CHANGELOG.rst +++ b/evaluator/kinematic_evaluator/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package kinematic_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(kinematic_evaluator): rework parameters (`#8199 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(kinematic_evaluator): rework parameters (`#8199 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -18,20 +18,20 @@ Changelog for package kinematic_evaluator 0.26.0 (2024-04-03) ------------------- -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* chore: add maintainer (`#4234 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -39,7 +39,7 @@ Changelog for package kinematic_evaluator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) +* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) * initial skeleton of localization evaluator * Add simple localization evaliuation framework * Clean and add tests diff --git a/evaluator/localization_evaluator/CHANGELOG.rst b/evaluator/localization_evaluator/CHANGELOG.rst index 264b551fe48fb..62f63139999e2 100644 --- a/evaluator/localization_evaluator/CHANGELOG.rst +++ b/evaluator/localization_evaluator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package localization_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(evaluator/localization_evaluator): rework parameters (`#6744 `_) +* refactor(evaluator/localization_evaluator): rework parameters (`#6744 `_) * add param file and schema * style(pre-commit): autofix * . @@ -13,11 +13,11 @@ Changelog for package localization_evaluator * . --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -25,20 +25,20 @@ Changelog for package localization_evaluator 0.26.0 (2024-04-03) ------------------- -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* chore: add maintainer (`#4234 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -46,7 +46,7 @@ Changelog for package localization_evaluator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) +* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) * initial skeleton of localization evaluator * Add simple localization evaliuation framework * Clean and add tests diff --git a/evaluator/perception_online_evaluator/CHANGELOG.rst b/evaluator/perception_online_evaluator/CHANGELOG.rst index ffdca0511a6cb..643dec851d0fa 100644 --- a/evaluator/perception_online_evaluator/CHANGELOG.rst +++ b/evaluator/perception_online_evaluator/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package perception_online_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(perception_online_evaluator): fix unusedFunction (`#8559 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(perception_online_evaluator): fix unusedFunction (`#8559 `_) fix:unusedFunction -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* fix(perception_online_evaluator): passedByValue (`#8201 `_) +* fix(perception_online_evaluator): passedByValue (`#8201 `_) fix: passedByValue -* fix(perception_online_evaluator): fix shadowVariable (`#7933 `_) +* fix(perception_online_evaluator): fix shadowVariable (`#7933 `_) * fix:shadowVariable * fix:clang-format * fix:shadowVariable --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -60,7 +60,7 @@ Changelog for package perception_online_evaluator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* fix(perception_online_evaluator): add metric_value not only stat (`#7100 `_)(`#7118 `_) (revert of revert) (`#7167 `_) +* fix(perception_online_evaluator): add metric_value not only stat (`#7100 `_)(`#7118 `_) (revert of revert) (`#7167 `_) * Revert "fix(perception_online_evaluator): revert "add metric_value not only s…" This reverts commit d827b1bd1f4bbacf0333eb14a62ef42e56caef25. * Update evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp @@ -68,20 +68,20 @@ Changelog for package perception_online_evaluator * use emplace back --------- Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(perception_online_evaluator): revert "add metric_value not only stat (`#7100 `_)" (`#7118 `_) -* feat(perception_online_evaluator): add metric_value not only stat (`#7100 `_) -* fix(perception_online_evaluator): fix range resolution (`#7115 `_) -* chore(glog): add initialization check (`#6792 `_) -* fix(perception_online_evaluator): fix bug of constStatement (`#6922 `_) -* feat(perception_online_evaluator): imporve yaw rate metrics considering flip (`#6881 `_) +* fix(perception_online_evaluator): revert "add metric_value not only stat (`#7100 `_)" (`#7118 `_) +* feat(perception_online_evaluator): add metric_value not only stat (`#7100 `_) +* fix(perception_online_evaluator): fix range resolution (`#7115 `_) +* chore(glog): add initialization check (`#6792 `_) +* fix(perception_online_evaluator): fix bug of constStatement (`#6922 `_) +* feat(perception_online_evaluator): imporve yaw rate metrics considering flip (`#6881 `_) * feat(perception_online_evaluator): imporve yaw rate metrics considering flip * fix test --------- -* feat(perception_evaluator): counts objects within detection range (`#6848 `_) +* feat(perception_evaluator): counts objects within detection range (`#6848 `_) * feat(perception_evaluator): counts objects within detection range detection counter add enable option and refactoring @@ -94,36 +94,36 @@ Changelog for package perception_online_evaluator fix * fix include --------- -* docs(perception_online_evaluator): update metrics explanation (`#6819 `_) -* feat(perception_online_evaluator): better waitForDummyNode (`#6827 `_) -* feat(perception_online_evaluator): add predicted path variance (`#6793 `_) +* docs(perception_online_evaluator): update metrics explanation (`#6819 `_) +* feat(perception_online_evaluator): better waitForDummyNode (`#6827 `_) +* feat(perception_online_evaluator): add predicted path variance (`#6793 `_) * feat(perception_online_evaluator): add predicted path variance * add unit test * update readme * pre commit --------- -* feat(perception_online_evaluator): ignore reversal of orientation from yaw_rate calculation (`#6748 `_) -* docs(perception_online_evaluator): add description about yaw rate evaluation (`#6737 `_) +* feat(perception_online_evaluator): ignore reversal of orientation from yaw_rate calculation (`#6748 `_) +* docs(perception_online_evaluator): add description about yaw rate evaluation (`#6737 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Kyoichi Sugahara, Nagi70, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* feat(perception_online_evaluator): extract moving object for deviation check (`#6682 `_) +* feat(perception_online_evaluator): extract moving object for deviation check (`#6682 `_) fix test -* feat(perception_online_evaluator): unify debug markers instead of separating for each object (`#6681 `_) +* feat(perception_online_evaluator): unify debug markers instead of separating for each object (`#6681 `_) * feat(perception_online_evaluator): unify debug markers instead of separating for each object * fix for --------- -* feat(perception_online_evaluator): add yaw rate metrics for stopped object (`#6667 `_) +* feat(perception_online_evaluator): add yaw rate metrics for stopped object (`#6667 `_) * feat(perception_online_evaluator): add yaw rate metrics for stopped object add add test * feat: add stopped vel parameter --------- -* fix(perception_online_evaluator): fix build error (`#6595 `_) -* build(perception_online_evaluator): add lanelet_extension dependency (`#6592 `_) -* feat(perception_online_evaluator): publish metrics of each object class (`#6556 `_) -* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) +* fix(perception_online_evaluator): fix build error (`#6595 `_) +* build(perception_online_evaluator): add lanelet_extension dependency (`#6592 `_) +* feat(perception_online_evaluator): publish metrics of each object class (`#6556 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) * feat(perception_evaluator): add perception_evaluator tmp update diff --git a/evaluator/diagnostic_converter/CHANGELOG.rst b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst similarity index 90% rename from evaluator/diagnostic_converter/CHANGELOG.rst rename to evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst index a382f3656533b..0c41ad6263d8b 100644 --- a/evaluator/diagnostic_converter/CHANGELOG.rst +++ b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst @@ -9,12 +9,12 @@ Changelog for package diagnostic_converter 0.26.0 (2024-04-03) ------------------- -* fix(diagnostic_converter): move headers to a separate directory (`#5943 `_) +* fix(diagnostic_converter): move headers to a separate directory (`#5943 `_) * fix(diagnostic_converter): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -22,12 +22,12 @@ Changelog for package diagnostic_converter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(diagnostic_converter): remove unit and blank in the value (`#3151 `_) +* feat(diagnostic_converter): remove unit and blank in the value (`#3151 `_) * feat(diagnostic_converter): remove unit and blank in the value * fix --------- -* feat(diagnostic_converter): apply regex for topic name (`#3149 `_) -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) +* feat(diagnostic_converter): apply regex for topic name (`#3149 `_) +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) * add original diagnostic_convertor * add test * fix typo diff --git a/evaluator/diagnostic_converter/CMakeLists.txt b/evaluator/scenario_simulator_v2_adapter/CMakeLists.txt similarity index 89% rename from evaluator/diagnostic_converter/CMakeLists.txt rename to evaluator/scenario_simulator_v2_adapter/CMakeLists.txt index 3f47eb0386a1c..576bd9682725a 100644 --- a/evaluator/diagnostic_converter/CMakeLists.txt +++ b/evaluator/scenario_simulator_v2_adapter/CMakeLists.txt @@ -1,6 +1,6 @@ cmake_minimum_required(VERSION 3.16.3) # Ubuntu 20.04 default CMake version -project(diagnostic_converter) +project(scenario_simulator_v2_adapter) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) @@ -21,7 +21,7 @@ ament_auto_add_library(${PROJECT_NAME}_node SHARED ) rclcpp_components_register_node(${PROJECT_NAME}_node - PLUGIN "diagnostic_converter::DiagnosticConverter" + PLUGIN "scenario_simulator_v2_adapter::MetricConverter" EXECUTABLE ${PROJECT_NAME} ) diff --git a/evaluator/scenario_simulator_v2_adapter/README.md b/evaluator/scenario_simulator_v2_adapter/README.md new file mode 100644 index 0000000000000..03786f3033521 --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/README.md @@ -0,0 +1,44 @@ +# scenario_simulator_v2 Adapter + +## Purpose + +This package provides a node to convert various messages from the Autoware into `tier4_simulation_msgs::msg::UserDefinedValue` messages for the scenario_simulator_v2. +Currently, this node supports conversion of: + +- `tier4_metric_msgs::msg::MetricArray` for metric topics + +## Inner-workings / Algorithms + +- For `tier4_metric_msgs::msg::MetricArray`, + The node subscribes to all topics listed in the parameter `metric_topic_list`. + Each time such message is received, it is converted into as many `UserDefinedValue` messages as the number of `Metric` objects. + The format of the output topic is detailed in the _output_ section. + +## Inputs / Outputs + +### Inputs + +The node listens to `MetricArray` messages on the topics specified in `metric_topic_list`. + +### Outputs + +The node outputs `UserDefinedValue` messages that are converted from the received messages. + +- For `MetricArray` messages, + The name of the output topics are generated from the corresponding input topic, the name of the metric. + - For example, we might listen to topic `/planning/planning_evaluator/metrics` and receive a `MetricArray` with 2 metrics: + - metric with `name: "metricA/x"` + - metric with `name: "metricA/y"` + - The resulting topics to publish the `UserDefinedValue` are as follows: + - `/planning/planning_evaluator/metrics/metricA/x` + - `/planning/planning_evaluator/metrics/metricA/y` + +## Parameters + +{{ json_to_markdown("src/autoware/universe/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json") }} + +## Assumptions / Known limits + +Values in the `Metric` objects of a `MetricArray` are assumed to be of type `double`. + +## Future extensions / Unimplemented parts diff --git a/evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml b/evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml new file mode 100644 index 0000000000000..6c27d440c3942 --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + update_rate: 10.0 + metric_topic_list: + - /planning/planning_evaluator/metrics + - /control/control_evaluator/metrics + - /system/processing_time_checker/metrics diff --git a/evaluator/diagnostic_converter/include/diagnostic_converter/converter_node.hpp b/evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp similarity index 53% rename from evaluator/diagnostic_converter/include/diagnostic_converter/converter_node.hpp rename to evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp index 59bb02ebf301f..1ac4585035277 100644 --- a/evaluator/diagnostic_converter/include/diagnostic_converter/converter_node.hpp +++ b/evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp @@ -12,55 +12,55 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DIAGNOSTIC_CONVERTER__CONVERTER_NODE_HPP_ -#define DIAGNOSTIC_CONVERTER__CONVERTER_NODE_HPP_ +#ifndef SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ +#define SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ #include -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "tier4_simulation_msgs/msg/user_defined_value.hpp" #include "tier4_simulation_msgs/msg/user_defined_value_type.hpp" +#include +#include #include #include #include #include -namespace diagnostic_converter +namespace scenario_simulator_v2_adapter { -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; -using diagnostic_msgs::msg::KeyValue; +using tier4_metric_msgs::msg::Metric; +using tier4_metric_msgs::msg::MetricArray; using tier4_simulation_msgs::msg::UserDefinedValue; using tier4_simulation_msgs::msg::UserDefinedValueType; /** - * @brief Node for converting from DiagnosticArray to UserDefinedValue + * @brief Node for converting Autoware's messages to UserDefinedValue */ -class DiagnosticConverter : public rclcpp::Node +class MetricConverter : public rclcpp::Node { public: - explicit DiagnosticConverter(const rclcpp::NodeOptions & node_options); + explicit MetricConverter(const rclcpp::NodeOptions & node_options); /** - * @brief callback for DiagnosticArray msgs that publishes equivalent UserDefinedValue msgs - * @param [in] diag_msg received diagnostic message + * @brief callback for MetricArray msgs that publishes equivalent UserDefinedValue msgs + * @param [in] metrics_msg received metrics message */ - void onDiagnostic( - const DiagnosticArray::ConstSharedPtr diag_msg, const size_t diag_idx, + void onMetrics( + const MetricArray::ConstSharedPtr metrics_msg, const size_t topic_idx, const std::string & topic); - UserDefinedValue createUserDefinedValue(const KeyValue & key_value) const; + UserDefinedValue createUserDefinedValue(const Metric & metric) const; rclcpp::Publisher::SharedPtr getPublisher( - const std::string & topic, const size_t pub_idx); + const std::string & topic, const size_t topic_idx); private: // ROS - std::vector::SharedPtr> diagnostics_sub_; + std::vector::SharedPtr> metrics_sub_; std::vector::SharedPtr>> params_pub_; }; -} // namespace diagnostic_converter +} // namespace scenario_simulator_v2_adapter -#endif // DIAGNOSTIC_CONVERTER__CONVERTER_NODE_HPP_ +#endif // SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ diff --git a/evaluator/diagnostic_converter/package.xml b/evaluator/scenario_simulator_v2_adapter/package.xml similarity index 76% rename from evaluator/diagnostic_converter/package.xml rename to evaluator/scenario_simulator_v2_adapter/package.xml index 91b9a2e2ede56..ae6b49671a774 100644 --- a/evaluator/diagnostic_converter/package.xml +++ b/evaluator/scenario_simulator_v2_adapter/package.xml @@ -1,21 +1,21 @@ - diagnostic_converter - 0.38.0 - Node for converting diagnostic messages into ParameterDeclaration messages + scenario_simulator_v2_adapter + 0.5.6 + Node for converting autoware's messages into UserDefinedValue messages Kyoichi Sugahara Maxime CLEMENT Takamasa Horibe + Takamasa Horibe Apache License 2.0 ament_cmake_auto autoware_cmake - - diagnostic_msgs pluginlib rclcpp rclcpp_components + tier4_metric_msgs tier4_simulation_msgs ament_cmake_gtest diff --git a/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json b/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json new file mode 100644 index 0000000000000..e353aadccc111 --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json @@ -0,0 +1,38 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for scenario_simulator_v2 Adapter", + "type": "object", + "definitions": { + "scenario_simulator_v2_adapter": { + "type": "object", + "properties": { + "update_rate": { + "type": "number", + "default": 10, + "exclusiveMinimum": 2, + "description": "The scanning and update frequency of the checker." + }, + "metric_topic_list": { + "type": "array", + "items": { + "type": "string" + }, + "description": "The topic name list of the processing time." + } + }, + "required": ["update_rate", "metric_topic_list"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/scenario_simulator_v2_adapter" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp b/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp new file mode 100644 index 0000000000000..98d36327793fe --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp @@ -0,0 +1,85 @@ +// Copyright 2023 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "scenario_simulator_v2_adapter/converter_node.hpp" + +#include + +namespace +{ +std::string removeInvalidTopicString(const std::string & input_string) +{ + std::regex pattern{R"([a-zA-Z0-9/_]+)"}; + + std::string result; + for (std::sregex_iterator itr(std::begin(input_string), std::end(input_string), pattern), end; + itr != end; ++itr) { + result += itr->str(); + } + return result; +} +} // namespace + +namespace scenario_simulator_v2_adapter +{ +MetricConverter::MetricConverter(const rclcpp::NodeOptions & node_options) +: Node("scenario_simulator_v2_adapter", node_options) +{ + using std::placeholders::_1; + + size_t sub_counter = 0; + std::vector metric_topic_list; + declare_parameter>("metric_topic_list", std::vector()); + get_parameter>("metric_topic_list", metric_topic_list); + for (const std::string & metric_topic : metric_topic_list) { + // std::function required with multiple arguments https://answers.ros.org/question/289207 + const std::function fn = + std::bind(&MetricConverter::onMetrics, this, _1, sub_counter++, metric_topic); + metrics_sub_.push_back(create_subscription(metric_topic, 1, fn)); + } + params_pub_.resize(metrics_sub_.size()); +} + +void MetricConverter::onMetrics( + const MetricArray::ConstSharedPtr metrics_msg, const size_t topic_idx, + const std::string & base_topic_name) +{ + for (const auto & metric : metrics_msg->metric_array) { + std::string metric_name = base_topic_name + (metric.name.empty() ? "" : "/" + metric.name); + const auto valid_topic_name = removeInvalidTopicString(metric_name); + getPublisher(valid_topic_name, topic_idx)->publish(createUserDefinedValue(metric)); + } +} + +UserDefinedValue MetricConverter::createUserDefinedValue(const Metric & metric) const +{ + UserDefinedValue param_msg; + param_msg.type.data = UserDefinedValueType::DOUBLE; + param_msg.value = metric.value; + return param_msg; +} + +rclcpp::Publisher::SharedPtr MetricConverter::getPublisher( + const std::string & topic_name, const size_t topic_idx) +{ + auto & pubs = params_pub_[topic_idx]; + if (pubs.count(topic_name) == 0) { + pubs[topic_name] = create_publisher(topic_name, 1); + } + return pubs.at(topic_name); +} +} // namespace scenario_simulator_v2_adapter + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(scenario_simulator_v2_adapter::MetricConverter) diff --git a/evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp b/evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp new file mode 100644 index 0000000000000..de2a12ac2caaa --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp @@ -0,0 +1,112 @@ +// Copyright 2023 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "scenario_simulator_v2_adapter/converter_node.hpp" + +#include + +#include "tier4_simulation_msgs/msg/user_defined_value.hpp" +#include "tier4_simulation_msgs/msg/user_defined_value_type.hpp" +#include +#include + +#include + +#include +#include +#include +#include + +using ConverterNode = scenario_simulator_v2_adapter::MetricConverter; +using tier4_metric_msgs::msg::Metric; +using tier4_metric_msgs::msg::MetricArray; +using tier4_simulation_msgs::msg::UserDefinedValue; + +void waitForMsg( + bool & flag, const rclcpp::Node::SharedPtr node1, const rclcpp::Node::SharedPtr node2) +{ + while (!flag) { + rclcpp::spin_some(node1); + rclcpp::spin_some(node2); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + flag = false; +} + +std::function generateCallback( + bool & flag, UserDefinedValue & msg) +{ + return [&](UserDefinedValue::ConstSharedPtr received_msg) { + flag = true; + msg = *received_msg; + }; +} + +TEST(ConverterNode, ConvertMetrics) +{ + const std::vector input_topics = {"/test1/metrics", "/test2/metrics"}; + + rclcpp::init(0, nullptr); + rclcpp::Node::SharedPtr dummy_node = std::make_shared("converter_test_node"); + + rclcpp::NodeOptions options; + options.append_parameter_override("metric_topic_list", rclcpp::ParameterValue(input_topics)); + auto node = std::make_shared(options); + + { // Simple case with 1 resulting UserDefinedValue + bool msg_received = false; + UserDefinedValue param; + // MetricArray publishers + const auto metric_pub = dummy_node->create_publisher(input_topics[0], 1); + // UserDefinedValue subscribers + const auto param_sub_a = dummy_node->create_subscription( + input_topics[0] + "/a", 1, generateCallback(msg_received, param)); + MetricArray metrics; + Metric metric; + metric.name = "a"; + metric.value = "1"; + metrics.metric_array.push_back(metric); + metric_pub->publish(metrics); + waitForMsg(msg_received, node, dummy_node); + EXPECT_EQ(param.value, "1"); + } + { // Case with multiple UserDefinedValue converted from one MetricArray + bool msg_received_x = false; + bool msg_received_y = false; + UserDefinedValue param_x; + UserDefinedValue param_y; + // MetricArray publishers + const auto metric_pub = dummy_node->create_publisher(input_topics[1], 1); + // UserDefinedValue subscribers + const auto param_sub_x = dummy_node->create_subscription( + input_topics[1] + "/x", 1, generateCallback(msg_received_x, param_x)); + const auto param_sub_y = dummy_node->create_subscription( + input_topics[1] + "/y", 1, generateCallback(msg_received_y, param_y)); + MetricArray metrics; + Metric metric; + metric.name = "x"; + metric.value = "2"; + metrics.metric_array.push_back(metric); + metric.name = "y"; + metric.value = "3.33333"; + metrics.metric_array.push_back(metric); + metric_pub->publish(metrics); + waitForMsg(msg_received_x, node, dummy_node); + EXPECT_EQ(param_x.value, "2"); + waitForMsg(msg_received_y, node, dummy_node); + EXPECT_EQ(param_y.value, "3.33333"); + } + + rclcpp::shutdown(); +} diff --git a/launch/tier4_autoware_api_launch/CHANGELOG.rst b/launch/tier4_autoware_api_launch/CHANGELOG.rst index 63c0c5211c382..c4dc5fba123fb 100644 --- a/launch/tier4_autoware_api_launch/CHANGELOG.rst +++ b/launch/tier4_autoware_api_launch/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package tier4_autoware_api_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) -* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) * Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -31,13 +31,13 @@ Changelog for package tier4_autoware_api_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(tier4_autoware_api_launch): suppress rtc_controller's info (`#3020 `_) +* feat(tier4_autoware_api_launch): suppress rtc_controller's info (`#3020 `_) * feat(tier4_autoware_api_launch): suppress rtc_controller's info * Update launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat: replace tier4_ad_api_adaptor with default_ad_api (`#2438 `_) +* feat: replace tier4_ad_api_adaptor with default_ad_api (`#2438 `_) * feat: add options * fix: rosbridge max message size * feat: remove old apis @@ -45,16 +45,16 @@ Changelog for package tier4_autoware_api_launch * feat: remove external engage * feat: add deprecated api option * fix: path -* fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) -* chore: add api maintainers (`#2361 `_) -* feat: remove launch for old routing api (`#2136 `_) -* feat(autoware_api_launch): delete image base64 converter launch (`#2131 `_) +* fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) +* chore: add api maintainers (`#2361 `_) +* feat: remove launch for old routing api (`#2136 `_) +* feat(autoware_api_launch): delete image base64 converter launch (`#2131 `_) delete image base64 converter launch -* feat(tier4_autoware_api_launch): add rtc_controller to api launch (`#1919 `_) -* fix: add adapi dependency (`#1892 `_) -* feat: move adapi rviz adaptor (`#1900 `_) +* feat(tier4_autoware_api_launch): add rtc_controller to api launch (`#1919 `_) +* fix: add adapi dependency (`#1892 `_) +* feat: move adapi rviz adaptor (`#1900 `_) feat: move adapi rviz adaptor -* feat(default_ad_api): add localization api (`#1431 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose @@ -74,7 +74,7 @@ Changelog for package tier4_autoware_api_launch * fix: remove needless keyword * feat: change api helper node namespace * fix: fix launch file path -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -107,7 +107,7 @@ Changelog for package tier4_autoware_api_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(default_ad_api): add routing api (`#1494 `_) +* feat(default_ad_api): add routing api (`#1494 `_) * feat(default_ad_api): add routing api * fix: build error * docs: add readme @@ -127,17 +127,17 @@ Changelog for package tier4_autoware_api_launch * feat: adaptor package * fix: helper node * fix: error handling -* feat(tier4_autoware_api_launch): add some arguments (`#1324 `_) +* feat(tier4_autoware_api_launch): add some arguments (`#1324 `_) * feat(tier4_autoware_api_launch): add some arguments * fix launch py * deal with review * deal with review * deal with review -* fix(tier4_autoware_api_launch): add group tag (`#1235 `_) -* fix(tier4_autoware_api_launch): typo (`#1047 `_) +* fix(tier4_autoware_api_launch): add group tag (`#1235 `_) +* fix(tier4_autoware_api_launch): typo (`#1047 `_) I will write release note, thank you. -* feat(tier4_autoware_api_launch): add rosbridge (`#779 `_) - * fix(image_projection_based_fusion): modify build error in rolling (`#775 `_) +* feat(tier4_autoware_api_launch): add rosbridge (`#779 `_) + * fix(image_projection_based_fusion): modify build error in rolling (`#775 `_) * feat(tier4_autoware_api_launch): add rosbridge docs(web_controller): rosbridge is automatically launched in tier4_autoware_api_launch * docs(web_controller): rosbridge is automatically launched in tier4_autoware_api_launch @@ -145,18 +145,18 @@ Changelog for package tier4_autoware_api_launch Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* chore: replace topic tools (`#986 `_) +* chore: replace topic tools (`#986 `_) * chore: replace topic tools * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package (`#658 `_) +* feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package (`#658 `_) * feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package * ci(pre-commit): autofix * fix(tier4_autoware_api_launch): fix the command in the README instructions diff --git a/launch/tier4_control_launch/CHANGELOG.rst b/launch/tier4_control_launch/CHANGELOG.rst index beb15e3fb412a..11f7420e9e513 100644 --- a/launch/tier4_control_launch/CHANGELOG.rst +++ b/launch/tier4_control_launch/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package tier4_control_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) -* fix(tier4_control_launch): fix aeb input predicted object topic name (`#8874 `_) +* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) +* fix(tier4_control_launch): fix aeb input predicted object topic name (`#8874 `_) fix aeb input predicted object topic -* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) +* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) * add initial tests * add more tests * more tests @@ -23,13 +23,13 @@ Changelog for package tier4_control_launch * add briefs * delete repeated test --------- -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* fix(control_launch): fix control launch control_evaluator plugin name (`#7846 `_) +* fix(control_launch): fix control launch control_evaluator plugin name (`#7846 `_) fix control evaluator plugin name -* refactor(tier4_control_launch): replace python launch with xml (`#7682 `_) +* refactor(tier4_control_launch): replace python launch with xml (`#7682 `_) * refactor: add xml version of control launch * refactor: remove python version of control launch * set default value of trajectory_follower_mode @@ -43,9 +43,9 @@ Changelog for package tier4_control_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi Co-authored-by: Kotaro Yoshimoto -* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) +* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) use class naming standard and use remapped param name -* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) +* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) * add route handler * add lanelet info to diagnostic * add const @@ -56,8 +56,8 @@ Changelog for package tier4_control_launch * add shoulder lanelets * fix includes --------- -* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) -* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) +* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) +* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) * add polling sub to predicted objects * WIP requires changing path frame to map * add parameters and reuse predicted obj speed @@ -72,31 +72,31 @@ Changelog for package tier4_control_launch * add utils.cpp * remove _ for non member variable --------- -* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) +* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) * feat(control_evaluator): rename to include/autoware/{package_name} * fix --------- -* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) -* feat(control_evaluator): add deviation metrics and queue for diagnostics (`#7484 `_) -* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) +* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) +* feat(control_evaluator): add deviation metrics and queue for diagnostics (`#7484 `_) +* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) * RT1-6682 add prefix package and namespace with autoware\_ * RT1-6682 fix package's description --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) +* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) * RT1-6684 add autoware prefix and namespace * RT1-6684 Revert svg This reverts commit 4e0569e4796ab432c734905fb7f2106779575e29. --------- Co-authored-by: Takayuki Murooka -* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) +* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) Fixed a mistake when adding prefixes -* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) +* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) * add prefix to the code * rename * fix @@ -105,7 +105,7 @@ Changelog for package tier4_control_launch * Update .github/CODEOWNERS --------- Co-authored-by: Takayuki Murooka -* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) +* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) * rename folders * rename add prefix * change param path @@ -115,15 +115,15 @@ Changelog for package tier4_control_launch * add namespace to address conflict * delete stubborn file --------- -* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) +* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) refactor(external_cmd_selector): prefix package and namespace with autoware\_ -* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) +* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) * add prefix autoware\_ to vehicle_cmd_gate package * fix * fix include guard * fix pre-commit --------- -* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) +* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) * change package name * add the prefix * change option @@ -131,14 +131,14 @@ Changelog for package tier4_control_launch * eliminate some prefixes that are not required * fix node name --------- -* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) +* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) * add prefix * fix pre-commit --------- -* refactor(lane_departure_checker)!: prefix package and namespace with autoware (`#7325 `_) +* refactor(lane_departure_checker)!: prefix package and namespace with autoware (`#7325 `_) * add prefix autoware\_ to lane_departure_checker package --------- -* feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower (`#6805 `_) +* feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower (`#6805 `_) * feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower * style(pre-commit): autofix * modified control.launch.py @@ -160,7 +160,7 @@ Changelog for package tier4_control_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Kosuke Takeuchi -* feat(control_evaluator): implement a control evaluator (`#6959 `_) +* feat(control_evaluator): implement a control evaluator (`#6959 `_) * add control evaluator module * make the evaluator depend on messages from AEB * update output msg @@ -169,9 +169,9 @@ Changelog for package tier4_control_launch * add a package mantainer * Add a timer to maintain a constant rate of msg publishing --------- -* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) +* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) This reverts commit 51b5f830780eb69bd1a7dfe60e295773f394fd8e. -* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) +* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) * feat(launch): add logging_demo::LoggerConfig into container * fix(logger_level_reconfigure_plugin): fix yaml * feat(logging_level_configure): add composable node @@ -180,20 +180,20 @@ Changelog for package tier4_control_launch 0.26.0 (2024-04-03) ------------------- -* feat: enable multithreading for the control container (`#6666 `_) -* feat(pid_longitudinal_controller): add maker for stop reason (`#6579 `_) +* feat: enable multithreading for the control container (`#6666 `_) +* feat(pid_longitudinal_controller): add maker for stop reason (`#6579 `_) * feat(pid_longitudinal_controller): add maker for stop reason * minor fix --------- -* chore(tier4_control_launch): fix control validator name duplication (`#6446 `_) -* feat(tier4_control_launch): run control_validator out of main control container (`#6435 `_) -* feat(tier4_control_launch): add launch argument for predicted path checker (`#5186 `_) -* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) - * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) +* chore(tier4_control_launch): fix control validator name duplication (`#6446 `_) +* feat(tier4_control_launch): run control_validator out of main control container (`#6435 `_) +* feat(tier4_control_launch): add launch argument for predicted path checker (`#5186 `_) +* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) + * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) * Added pkg to control.launch.py --------- -* fix(operation_mode_transition_manager): check trajectory_follower_cmd for engage condition (`#5038 `_) -* feat(glog): add glog in planning and control modules (`#4714 `_) +* fix(operation_mode_transition_manager): check trajectory_follower_cmd for engage condition (`#5038 `_) +* feat(glog): add glog in planning and control modules (`#4714 `_) * feat(glog): add glog component * formatting * remove namespace @@ -209,7 +209,7 @@ Changelog for package tier4_control_launch * add copyright --------- Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* feat(control_validator): measure predicted path deviation from trajectory (`#4549 `_) +* feat(control_validator): measure predicted path deviation from trajectory (`#4549 `_) * add feature for getting predicted path deviation from trajectory * fix for build success * fix topic name @@ -230,7 +230,7 @@ Changelog for package tier4_control_launch * change maintainer * refactor * style(pre-commit): autofix - * feat(dynamic_avoidance): object polygon based drivable area generation (`#4598 `_) + * feat(dynamic_avoidance): object polygon based drivable area generation (`#4598 `_) * update * update README * fix typo @@ -243,16 +243,16 @@ Changelog for package tier4_control_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka Co-authored-by: Takamasa Horibe -* feat(shift_decider): send current gear if the autoware state is not driving (`#3684 `_) -* feat(vehicle_cmd_gate): do not send current gear if autoware is not engaged (`#3683 `_) +* feat(shift_decider): send current gear if the autoware state is not driving (`#3684 `_) +* feat(vehicle_cmd_gate): do not send current gear if autoware is not engaged (`#3683 `_) This reverts commit be3138545d6814a684a314a7dbf1ffb450f90970. -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -260,31 +260,31 @@ Changelog for package tier4_control_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(control_launch): add necessary parameter (`#3235 `_) -* feat(tier4_control_launch): add check_external_emergency_heartbeat option (`#3079 `_) -* feat(control): add autonomous emergency braking module (`#2793 `_) -* feat(vehicle_cmd_gate): enable filter with actual steer in manual mode (`#2717 `_) +* fix(control_launch): add necessary parameter (`#3235 `_) +* feat(tier4_control_launch): add check_external_emergency_heartbeat option (`#3079 `_) +* feat(control): add autonomous emergency braking module (`#2793 `_) +* feat(vehicle_cmd_gate): enable filter with actual steer in manual mode (`#2717 `_) * feature(vehicle_cmd_gate): enable filter with actual steer in manual mode * update parameters based on experiment * update launch * update param --------- -* feat(longitudinal_controller): skip integral in manual mode (`#2619 `_) +* feat(longitudinal_controller): skip integral in manual mode (`#2619 `_) * feat(longitudinal_controller): skip integral in manual mode * change control_mode to operation_mode * fix test -* chore(control_launch): add maintainer (`#2758 `_) -* feat(vehicle_cmd_gate): send current gear if autoware is not engaged (`#2555 `_) +* chore(control_launch): add maintainer (`#2758 `_) +* feat(vehicle_cmd_gate): send current gear if autoware is not engaged (`#2555 `_) * feat(vehicle_cmd_gate): send current gear if autoware is not engaged * ci(pre-commit): autofix * add topic map to launch file Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_control_launch): remove parameter definition in control.launch.py (`#2585 `_) +* refactor(tier4_control_launch): remove parameter definition in control.launch.py (`#2585 `_) * refactor trajectory_follower_node's param * organize parameter definition in control_launch * fix typo * fix failed test -* feat(trajectory_follower): seperate lat lon controller packages (`#2580 `_) +* feat(trajectory_follower): seperate lat lon controller packages (`#2580 `_) * feat(trajectory_follower): seperate controller implementation packages * update doc * fix doc @@ -293,14 +293,14 @@ Changelog for package tier4_control_launch * rename to trajectory_follower_base, trajectory_follower_node * fix doc * remove unnecessary change -* feat(tier4_control_launch): remove configs and move to autoware_launch (`#2544 `_) +* feat(tier4_control_launch): remove configs and move to autoware_launch (`#2544 `_) * feat(tier4_control_launch): remove configs and move to autoware_launch * remove config * Update launch/tier4_control_launch/README.md Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: kminoda -* fix(tier4_control_launch): add parameter about nearest search (`#2542 `_) -* feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) +* fix(tier4_control_launch): add parameter about nearest search (`#2542 `_) +* feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) * feat(trajectory_follower): extend mpc trajectory for terminal yaw * make mpc min vel param * add mpc extended point after smoothing @@ -314,18 +314,18 @@ Changelog for package tier4_control_launch * fix from TakaHoribe review * fix typo * refactor -* refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) -* fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) +* refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) +* fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) +* feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) * feat(transition_manager): add param to ignore autonomous transition condition * same for modeChangeCompleted * remove debug print -* feat(operation_mode_transition_manager): modify transition timeout (`#2318 `_) +* feat(operation_mode_transition_manager): modify transition timeout (`#2318 `_) feat(operation_mode_transition_manager): modify mode change in transition -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers @@ -387,7 +387,7 @@ Changelog for package tier4_control_launch * fix(emergency_handler): fix acronyms case * chore(tier4_system_launch): add a mrm comfortable stop parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(operation_mode_transition_manager): support ad api (`#1535 `_) +* feat(operation_mode_transition_manager): support ad api (`#1535 `_) * feat(operation_mode_transition_manager): support ad api * fix: merge operation mode state message * feat(autoware_ad_api_msgs): define operation mode interface @@ -406,18 +406,18 @@ Changelog for package tier4_control_launch * fix: fix operation mode change when disable autoware control * fix: fix operation mode change when autoware control is disabled Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(tier4_control_launch): add obstacle_collision_checker in control.launch.py (`#2193 `_) +* feat(tier4_control_launch): add obstacle_collision_checker in control.launch.py (`#2193 `_) Co-authored-by: Berkay Karaman -* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(control_launch): add longitudinal controller mode (`#2062 `_) +* feat(control_launch): add longitudinal controller mode (`#2062 `_) feature(control_launch): add longitudinal controller mode -* fix: modified to reflect the argument "initial_selector_mode" in control_launch (`#1961 `_) -* refactor: replace acc calculation in planning control modules (`#1213 `_) +* fix: modified to reflect the argument "initial_selector_mode" in control_launch (`#1961 `_) +* refactor: replace acc calculation in planning control modules (`#1213 `_) * [obstacle_cruise_planner] replace acceleration calculation * [obstacle_stop_planner] replace acceleration calculation * [trajectory_follower] replace acceleration calculation @@ -425,12 +425,12 @@ Changelog for package tier4_control_launch * fix nullptr check * fix controller test * fix -* feat(shift_decider): add config file (`#1857 `_) +* feat(shift_decider): add config file (`#1857 `_) * feat(shift_decider): add config file * feat(tier4_control_launch): add shift_decider.param.yaml * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(shift_decider): put the gear in park when vehicle reaches the goal (`#1818 `_) +* feat(shift_decider): put the gear in park when vehicle reaches the goal (`#1818 `_) * feat(shift_decider): put the gear in park when vehicle reaches the goal * ci(pre-commit): autofix * feat(shift_decider): check /autoware/state subscriber in timer function @@ -440,8 +440,8 @@ Changelog for package tier4_control_launch * feat(shift_decider): add park_on_goal flag * feat(tier4_control_launch): add park_on_goal param for shift_decider Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) - * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) +* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) + * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) function added, not turning fix the always positive curvature problem @@ -485,7 +485,7 @@ Changelog for package tier4_control_launch * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -518,9 +518,9 @@ Changelog for package tier4_control_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore(trajectory_follower_nodes): remove the remaining latlon_muxer (`#1592 `_) -* feat(trajectory_follower): keep stop until the steering control is done (`#1672 `_) -* fix(velocity_controller, mpc_follower): use common ego nearest search (`#1590 `_) +* chore(trajectory_follower_nodes): remove the remaining latlon_muxer (`#1592 `_) +* feat(trajectory_follower): keep stop until the steering control is done (`#1672 `_) +* fix(velocity_controller, mpc_follower): use common ego nearest search (`#1590 `_) * fix(trajectory_follower): use common ego nearest search * removed calcNearestIndex * add nearest search param @@ -528,14 +528,14 @@ Changelog for package tier4_control_launch * fix * Update launch/tier4_control_launch/launch/control.launch.py * update test fil -* fix(tier4_control_launch): pass vehicle_info_param to trajectory_follower (`#1450 `_) -* refactor(trajectory_follower_nodes): use max_steer_angle in common (`#1422 `_) +* fix(tier4_control_launch): pass vehicle_info_param to trajectory_follower (`#1450 `_) +* refactor(trajectory_follower_nodes): use max_steer_angle in common (`#1422 `_) * refactor(trajectory_follower_nodes): use max_steer_angle in common * remove parameters from tier4_control_launch * fix -* feat(tier4_control_launch): declare param path argument (`#1432 `_) -* fix(operation_mode_transition_manager): add required param (`#1342 `_) -* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) +* feat(tier4_control_launch): declare param path argument (`#1432 `_) +* fix(operation_mode_transition_manager): add required param (`#1342 `_) +* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) * add engage_transition_manager * rename to operation mode transition manager * fix precommit @@ -546,55 +546,55 @@ Changelog for package tier4_control_launch * add allow_autonomous_in_stopped * fix typo * fix precommit -* feat(trajectory_follower): add min_prediction_length to mpc (`#1171 `_) +* feat(trajectory_follower): add min_prediction_length to mpc (`#1171 `_) * feat(trajectory_follower): Add min_prediction_length to mpc * refactor -* feat(vehicle cmd gate): add transition filter (`#1244 `_) +* feat(vehicle cmd gate): add transition filter (`#1244 `_) * feat(vehicle_cmd_gate): add transition filter * fix precommit * remove debug code * update param yaml * update readme * fix default topic name -* feat(trajectory_follower): integrate latlon controller (`#901 `_) +* feat(trajectory_follower): integrate latlon controller (`#901 `_) * feat(trajectory_follower): integrate latlon controller * Remove unnecessary throw error * update from review comment * Set steer converged params false * Update params of design.md Co-authored-by: Takamasa Horibe -* feat(longitudinal_controller): add disable emergency option (`#1201 `_) +* feat(longitudinal_controller): add disable emergency option (`#1201 `_) * feat(longitudinal_controller): add disable emergency option * update readme * add param -* refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) +* refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* perf(trajectory_follower_nodes): change longitudinal control to use period parameter (`#763 `_) +* style: fix format of package.xml (`#844 `_) +* perf(trajectory_follower_nodes): change longitudinal control to use period parameter (`#763 `_) * perf(trajectory_follower_nodes): change longitudinal control to use period parameter * perf(trajectory_follower_nodes): remove duplicate ros parameters in 'control.launch.py' * doc(trajectory_follower_nodes): update design doc according to code update * ci(pre-commit): autofix Co-authored-by: Shark Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: add pure_pursuit as lateral controller into launch files (`#750 `_) -* fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) +* fix: add pure_pursuit as lateral controller into launch files (`#750 `_) +* fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) * fix(longitudinal_controller_node): parameterize stopped state entry condition * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE * fix(vehicle_cmd_gate): check time duration since the vehicle stopped -* fix(control_launch): change default mpc param to improve performance (`#667 `_) -* fix(trajectory_follower): change stop check speed threshold to almost 0 (`#473 `_) +* fix(control_launch): change default mpc param to improve performance (`#667 `_) +* fix(trajectory_follower): change stop check speed threshold to almost 0 (`#473 `_) * fix(trajectory_follower): change stop check speed threshold to 0 * change default parameter -* fix(trajectory_follower): change default param for curvature smoothing (`#498 `_) -* feat: change launch package name (`#186 `_) +* fix(trajectory_follower): change default param for curvature smoothing (`#498 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index 44e09c292896a..899db1448dbf8 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -1,13 +1,23 @@ - - + + - - - - + + + + + + + + + + + + + + @@ -39,47 +49,9 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + @@ -89,7 +61,6 @@ - @@ -130,7 +101,6 @@ - + - - - + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - + + + + - - - - - - + + + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + + + + - - - - - - - - - + + + + + + + + + + + - - + + + + + + + + + + + + + + + - - - - - - - - - + + + + + + + + + + + + + + + - - - - - - + + + + + + + + + + + + + + + diff --git a/launch/tier4_localization_launch/CHANGELOG.rst b/launch/tier4_localization_launch/CHANGELOG.rst index 5aadfbd331d76..b7d0b8cf8169d 100644 --- a/launch/tier4_localization_launch/CHANGELOG.rst +++ b/launch/tier4_localization_launch/CHANGELOG.rst @@ -5,20 +5,20 @@ Changelog for package tier4_localization_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix -* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) +* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) * import lanelet2_map_preprocessor * move headers to include/autoware/efk_localier --------- -* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) * add autoware\_ prefix * fix link --------- Co-authored-by: SakodaShintaro -* chore(stop_filter): extract stop_filter.param.yaml to autoware_launch (`#8681 `_) +* chore(stop_filter): extract stop_filter.param.yaml to autoware_launch (`#8681 `_) Extract stop_filter.param.yaml to autoware_launch -* feat(localization): add `lidar_marker_localizer` (`#5573 `_) +* feat(localization): add `lidar_marker_localizer` (`#5573 `_) * Added lidar_marker_localizer * style(pre-commit): autofix * fix launch file @@ -140,39 +140,39 @@ Changelog for package tier4_localization_launch Co-authored-by: yamato-ando Co-authored-by: Yamato Ando Co-authored-by: yamato-ando -* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) +* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) +* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) * add autoware\_ prefix * add autoware\_ prefix * fix link for landmark_based_localizer * remove Shadowing --------- Co-authored-by: SakodaShintaro -* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) +* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) * add autoware\_ prefix * add missing header * use target_include_directories instead * add autoware\_ prefix --------- -* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) +* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) add autoware\_ prefix -* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) +* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) * add autoware\_ prefix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: SakodaShintaro -* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) +* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) * add autoware\_ prefix * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -186,25 +186,25 @@ Changelog for package tier4_localization_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* chore(localization, map): remove maintainer (`#7940 `_) -* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) * refactor(stop_filter): prefix package and namespace with autoware * fix launch files and update CODEOWNERS --------- -* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) * Added prefix "autoware\_" to ar_tag_based_localizer * style(pre-commit): autofix * Fixed localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) +* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) Co-authored-by: M. Fatih Cırıt * Contributors: Amadeusz Szymko, Esteve Fernandez, Masaki Baba, SakodaShintaro, TaikiYamada4, Yutaka Kondo, kminoda, melike tanrikulu 0.26.0 (2024-04-03) ------------------- -* feat(pose_initilizer): set intial pose directly (`#6692 `_) +* feat(pose_initilizer): set intial pose directly (`#6692 `_) * feat(pose_initilizer): set intial pose directly * style(pre-commit): autofix * fix arg order @@ -223,25 +223,25 @@ Changelog for package tier4_localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): change the default input pointcloud of localization into the concatenated pointcloud (`#6528 `_) +* feat(tier4_localization_launch): change the default input pointcloud of localization into the concatenated pointcloud (`#6528 `_) refactor lacun argument lidar_container_name to localization_pointcloud_container_name -* fix(ar_tag_based_localizer): add ar tag based localizer param (`#6390 `_) +* fix(ar_tag_based_localizer): add ar tag based localizer param (`#6390 `_) Added ar_tag_based_localizer_param_path -* chore(tier4_localization_launch): add maintainer (`#6350 `_) +* chore(tier4_localization_launch): add maintainer (`#6350 `_) add maintainer -* chore(ndt scan matcher): rename config path (`#6333 `_) +* chore(ndt scan matcher): rename config path (`#6333 `_) * refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py * style(pre-commit): autofix * chore(ndt_scan_matcher): rename config path * rename path --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py (`#6287 `_) +* refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py (`#6287 `_) * refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pose_estimator_arbiter): add pose_estimator_arbiter with simple switching rule (`#6144 `_) +* feat(pose_estimator_arbiter): add pose_estimator_arbiter with simple switching rule (`#6144 `_) * implement pose_estimator_manager pkg * tmp * swap ndt & yabloc @@ -364,7 +364,7 @@ Changelog for package tier4_localization_launch * remove obsolete args --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(twist2accel): rework parameters (`#6266 `_) +* chore(twist2accel): rework parameters (`#6266 `_) * Added twist2accel.param.yaml * Added twist2accel.schema.json * Fixed README.md and description @@ -372,7 +372,7 @@ Changelog for package tier4_localization_launch * Removed default parameters --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) +* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) * feat!: replace use_pointcloud_container * feat: remove from planning * fix: fix to remove all use_pointcloud_container @@ -390,21 +390,21 @@ Changelog for package tier4_localization_launch * fix: fix pre-commit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml (`#6041 `_) +* refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml (`#6041 `_) Fixed ndt_scan_matcher.launch.xml -* refactor(ar_tag_based_localizer): refactor pub/sub and so on (`#5854 `_) +* refactor(ar_tag_based_localizer): refactor pub/sub and so on (`#5854 `_) * Fixed ar_tag_based_localizer pub/sub * Remove dependency on image_transport --------- -* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) +* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) rename lidar topic Co-authored-by: yamato-ando -* feat(localization): add `pose_instability_detector` (`#5439 `_) +* feat(localization): add `pose_instability_detector` (`#5439 `_) * Added pose_instability_detector * Renamed files * Fixed parameter name @@ -447,7 +447,7 @@ Changelog for package tier4_localization_launch * Updated rqt_runtime_monitor.png --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(geo_pose_projector): use geo_pose_projector in eagleye (`#5513 `_) +* feat(geo_pose_projector): use geo_pose_projector in eagleye (`#5513 `_) * feat(tier4_geo_pose_projector): use tier4_geo_pose_projector in eagleye * style(pre-commit): autofix * fix(eagleye): split fix2pose @@ -469,7 +469,7 @@ Changelog for package tier4_localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(eagleye): split fix2pose (`#5506 `_) +* feat(eagleye): split fix2pose (`#5506 `_) * fix(eagleye): split fix2pose * style(pre-commit): autofix * fix name: fuser -> fusion @@ -478,7 +478,7 @@ Changelog for package tier4_localization_launch * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(landmark_based_localizer): refactored landmark_tf_caster (`#5414 `_) +* refactor(landmark_based_localizer): refactored landmark_tf_caster (`#5414 `_) * Removed landmark_tf_caster node * Added maintainer * style(pre-commit): autofix @@ -492,18 +492,18 @@ Changelog for package tier4_localization_launch * Fixed Marker to MarkerArray --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) +* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) * add raw image subscriber * update README * improve format and variable names --------- -* feat(pose_twist_estimator): automatically initialize pose only with gnss (`#5115 `_) -* fix(tier4_localization_launch): fixed exec_depend (`#5075 `_) +* feat(pose_twist_estimator): automatically initialize pose only with gnss (`#5115 `_) +* fix(tier4_localization_launch): fixed exec_depend (`#5075 `_) * Fixed exec_depend * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ar_tag_based_localizer): split the package `ar_tag_based_localizer` (`#5043 `_) +* feat(ar_tag_based_localizer): split the package `ar_tag_based_localizer` (`#5043 `_) * Fix package name * Removed utils * Renamed tag_tf_caster to landmark_tf_caster @@ -519,7 +519,7 @@ Changelog for package tier4_localization_launch * Fixed ArTagDetector to ArTagBasedLocalizer --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ar_tag_based_localizer): add ekf_pose subscriber (`#4946 `_) +* feat(ar_tag_based_localizer): add ekf_pose subscriber (`#4946 `_) * Fixed qos * Fixed camera_frame\_ * Fixed for awsim @@ -540,7 +540,7 @@ Changelog for package tier4_localization_launch * Added comments to param.yaml --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ar_tag_based_localizer): added small changes (`#4885 `_) +* fix(ar_tag_based_localizer): added small changes (`#4885 `_) * Fixed qos * Fixed camera_frame\_ * Fixed for awsim @@ -551,7 +551,7 @@ Changelog for package tier4_localization_launch * Updated README.md * Fixed distance_threshold to 13m --------- -* feat(localization): add a new localization package `ar_tag_based_localizer` (`#4347 `_) +* feat(localization): add a new localization package `ar_tag_based_localizer` (`#4347 `_) * Added ar_tag_based_localizer * style(pre-commit): autofix * Added include @@ -604,7 +604,7 @@ Changelog for package tier4_localization_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) +* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) * feat(yabloc_monitor): add yabloc_monitor * style(pre-commit): autofix * add readme @@ -638,14 +638,14 @@ Changelog for package tier4_localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_localization_launch): change input/pointcloud param (`#4411 `_) +* refactor(tier4_localization_launch): change input/pointcloud param (`#4411 `_) * refactor(tier4_localization_launch): change input/pointcloud param * parameter renaming moved util.launch.py -* feat(yabloc): change namespace (`#4389 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -670,7 +670,7 @@ Changelog for package tier4_localization_launch * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -816,26 +816,26 @@ Changelog for package tier4_localization_launch * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -846,18 +846,18 @@ Changelog for package tier4_localization_launch * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -865,42 +865,42 @@ Changelog for package tier4_localization_launch * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -914,47 +914,47 @@ Changelog for package tier4_localization_launch * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -965,8 +965,8 @@ Changelog for package tier4_localization_launch * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -975,8 +975,8 @@ Changelog for package tier4_localization_launch * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -984,15 +984,15 @@ Changelog for package tier4_localization_launch * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -1001,7 +1001,7 @@ Changelog for package tier4_localization_launch * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common @@ -1085,13 +1085,13 @@ Changelog for package tier4_localization_launch Co-authored-by: Akihiro Komori Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -1099,7 +1099,7 @@ Changelog for package tier4_localization_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: add gnss/imu localizer (`#3063 `_) +* feat: add gnss/imu localizer (`#3063 `_) * Add gnss_imu_localizar * Fix twist switching bug * Fix spell and reformat @@ -1134,19 +1134,19 @@ Changelog for package tier4_localization_launch * List the packages that depend on map4_localization_launch correctly * Ran precommit locally --------- -* chore(tier4_localization_launch): add maintainer (`#3133 `_) -* chore(ekf_localizer): move parameters to its dedicated yaml file (`#3039 `_) +* chore(tier4_localization_launch): add maintainer (`#3133 `_) +* chore(ekf_localizer): move parameters to its dedicated yaml file (`#3039 `_) * chores(ekf_localizer): move parameters to its dedicated yaml file * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) +* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) * Support GNSS/IMU pose estimator * style(pre-commit): autofix * Revert gnss/imu support @@ -1174,7 +1174,7 @@ Changelog for package tier4_localization_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohei Sasaki Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_localization_launch): remove configs and move to autoware_launch (`#2537 `_) +* feat(tier4_localization_launch): remove configs and move to autoware_launch (`#2537 `_) * feat(tier4_localization_launch): remove configs and move to autoware_launch * update readme * Update launch/tier4_localization_launch/README.md @@ -1184,18 +1184,18 @@ Changelog for package tier4_localization_launch * update readme * pre-commit Co-authored-by: Yamato Ando -* feat(tier4_localization_launch): pass pc container to localization (`#2114 `_) +* feat(tier4_localization_launch): pass pc container to localization (`#2114 `_) * feature(tier4_localization_launch): pass pc container to localization * ci(pre-commit): autofix * feature(tier4_localization_launch): update util.launch.xml * feature(tier4_localization_launch): update use container param value Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt): remove ndt package (`#2053 `_) +* feat(ndt): remove ndt package (`#2053 `_) * first commit * CMakeLists.txt does not work........ * build works @@ -1210,8 +1210,8 @@ Changelog for package tier4_localization_launch * removed default parameter from search_method * small fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: add adapi dependency (`#1892 `_) -* feat(pose_initializer)!: support ad api (`#1500 `_) +* fix: add adapi dependency (`#1892 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -1227,18 +1227,18 @@ Changelog for package tier4_localization_launch * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): manual sync with tier4/localization_launch (`#1442 `_) +* feat(tier4_localization_launch): manual sync with tier4/localization_launch (`#1442 `_) * feat(tier4_localization_launch): manual sync with tier4/localization_launch * ci(pre-commit): autofix * fix * revert modification Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ekf_localizer): rename biased pose topics (`#1787 `_) +* fix(ekf_localizer): rename biased pose topics (`#1787 `_) * fix(ekf_localizer): rename biased pose topics * Update topic descriptions in README Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat(default_ad_api): add localization api (`#1431 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose @@ -1258,7 +1258,7 @@ Changelog for package tier4_localization_launch * fix: remove needless keyword * feat: change api helper node namespace * fix: fix launch file path -* chore(localization packages, etc): modify maintainer and e-mail address (`#1661 `_) +* chore(localization packages, etc): modify maintainer and e-mail address (`#1661 `_) * chore(localization packages, etc): modify maintainer and e-mail address * remove indent * add authors @@ -1271,7 +1271,7 @@ Changelog for package tier4_localization_launch * add author Co-authored-by: Yukihiro Saito Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(ekf_localizer): enable enable_yaw_bias (`#1601 `_) +* fix(ekf_localizer): enable enable_yaw_bias (`#1601 `_) * fix(ekf_localizer): enable enable_yaw_bias * remove proc_stddev_yaw_bias from ekf * ci(pre-commit): autofix @@ -1280,33 +1280,33 @@ Changelog for package tier4_localization_launch * fixed minor bugs * change default parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ndt_scan_matcher): fix default parameter to 0.0225 (`#1583 `_) +* fix(ndt_scan_matcher): fix default parameter to 0.0225 (`#1583 `_) * fix(ndt_scan_matcher): fix default parameter to 0.0225 * added a sidenote * added a sidenote -* feat(localization_error_monitor): change subscribing topic type (`#1532 `_) +* feat(localization_error_monitor): change subscribing topic type (`#1532 `_) * feat(localization_error_monitor): change subscribing topic type * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): declare param path argument (`#1404 `_) +* feat(tier4_localization_launch): declare param path argument (`#1404 `_) * first commit * added arguments in each launch files * finished implementation * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): change rectified pointcloud to outlier_filtered pointcloud (`#1365 `_) -* fix(tier4_localization_launch): add group tag (`#1237 `_) +* feat(tier4_localization_launch): change rectified pointcloud to outlier_filtered pointcloud (`#1365 `_) +* fix(tier4_localization_launch): add group tag (`#1237 `_) * fix(tier4_localization_launch): add group tag * add more args into group -* feat(localization_error_monitor): add a config file (`#1282 `_) +* feat(localization_error_monitor): add a config file (`#1282 `_) * feat(localization_error_monitor): add a config file * ci(pre-commit): autofix * feat(localization_error_monitor): add a config file in tier4_localization_launch too * ci(pre-commit): autofix * debugged Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_localization_launch): remove unnecessary param from pose_twist_fusion_filter.launch (`#1224 `_) -* feat(ekf_localizer): allow multi sensor inputs in ekf_localizer (`#1027 `_) +* fix(tier4_localization_launch): remove unnecessary param from pose_twist_fusion_filter.launch (`#1224 `_) +* feat(ekf_localizer): allow multi sensor inputs in ekf_localizer (`#1027 `_) * first commit * ci(pre-commit): autofix * updated @@ -1346,7 +1346,7 @@ Changelog for package tier4_localization_launch * change the default gnss covariance to the previous one * pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) +* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) * first commit * ci(pre-commit): autofix * check if angular_velocity_queue\_ is empty or not @@ -1356,7 +1356,7 @@ Changelog for package tier4_localization_launch * ci(pre-commit): autofix * reflected reviews Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: regularized NDT matching (`#1006 `_) +* feat: regularized NDT matching (`#1006 `_) * add interface of gnss regularization in ndt class * gnss pose is applied to regularize NDT * add descriptions in ndt_scan_matcher/README @@ -1368,7 +1368,7 @@ Changelog for package tier4_localization_launch * modify README to visualize well * fixed descriptions about principle of regularization Co-authored-by: Kento Yabuuchi -* feat(twist2accel)!: add new package for estimating acceleration in localization module (`#1089 `_) +* feat(twist2accel)!: add new package for estimating acceleration in localization module (`#1089 `_) * first commit * update launch arg names * use lowpassfilter in signalprocessing @@ -1386,26 +1386,26 @@ Changelog for package tier4_localization_launch * added future work * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat: added raw twist in gyro_odometer (`#676 `_) +* style: fix format of package.xml (`#844 `_) +* feat: added raw twist in gyro_odometer (`#676 `_) * feat: added raw twist output from gyro_odometer * fix: prettier -* fix: localization and perception launch for tutorial (`#645 `_) +* fix: localization and perception launch for tutorial (`#645 `_) * fix: localization and perception launch for tutorial * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): add nearest voxel transfromation probability (`#364 `_) +* feat(ndt_scan_matcher): add nearest voxel transfromation probability (`#364 `_) * feat(ndt_scan_matcher): add nearest voxel transfromation probability * add calculateTransformationProbability funcs * add calculateTransformationProbability funcs @@ -1422,7 +1422,7 @@ Changelog for package tier4_localization_launch * ci(pre-commit): autofix * avoid a warning unused parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): add tolerance of initial pose (`#408 `_) +* feat(ndt_scan_matcher): add tolerance of initial pose (`#408 `_) * feat(ndt_scan_matcher): add tolerance of initial pose * move codes * modify the default value @@ -1432,15 +1432,15 @@ Changelog for package tier4_localization_launch * add depend fmt * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): add particles param (`#330 `_) +* feat(ndt_scan_matcher): add particles param (`#330 `_) * feat(ndt_scan_matcher): add particles param * fix data type * ci(pre-commit): autofix * fix data type Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: remove unused param (`#291 `_) -* fix: typo in localization util.launch.py (`#277 `_) -* feat: add covariance param (`#281 `_) +* fix: remove unused param (`#291 `_) +* fix: typo in localization util.launch.py (`#277 `_) +* feat: add covariance param (`#281 `_) * add covariance param * add description * add description @@ -1448,7 +1448,7 @@ Changelog for package tier4_localization_launch * refactor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst index d70ee5384a0f4..e1ee86c71fc15 100644 --- a/launch/tier4_map_launch/CHANGELOG.rst +++ b/launch/tier4_map_launch/CHANGELOG.rst @@ -5,36 +5,36 @@ Changelog for package tier4_map_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_map_launch): remove parameter use_intra_process (`#9138 `_) -* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) +* fix(tier4_map_launch): remove parameter use_intra_process (`#9138 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* fix(map_tf_genrator): fix map launch prefix (`#8598 `_) +* fix(map_tf_genrator): fix map launch prefix (`#8598 `_) fix(map_tf_geenrator): fix map launch prefix -* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) +* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* chore(localization, map): remove maintainer (`#7940 `_) -* chore(map): udpate maintainer (`#7405 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* chore(map): udpate maintainer (`#7405 `_) udpate maintainer -* fix(tier4_map_launch): change log output (`#7289 `_) +* fix(tier4_map_launch): change log output (`#7289 `_) change log output from screen to both Co-authored-by: SakodaShintaro * Contributors: Kosuke Takeuchi, Masaki Baba, Yamato Ando, Yutaka Kondo, cyn-liu, kminoda 0.26.0 (2024-04-03) ------------------- -* refactor(map_tf_generator): rework parameters (`#6233 `_) +* refactor(map_tf_generator): rework parameters (`#6233 `_) * refactor(map_tf_generator): rework parameters * add config * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(map_projection_loader): rework parameters (`#6253 `_) +* refactor(map_projection_loader): rework parameters (`#6253 `_) * Extract all params in map_projection_loader to map_projection_loader.param.yaml Added launch argument map_projection_loader_param_path to map.launch.xml * Added map_projection_loader.schema.json. @@ -44,17 +44,17 @@ Changelog for package tier4_map_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto -* chore(tier4_map_launch): add maintainer (`#6284 `_) -* refactor(map_launch): use map.launch.xml instead of map.launch.py (`#6185 `_) +* chore(tier4_map_launch): add maintainer (`#6284 `_) +* refactor(map_launch): use map.launch.xml instead of map.launch.py (`#6185 `_) * refactor(map_launch): use map.launch.xml instead of map.launch.py * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer in map packages (`#5865 `_) +* chore: add maintainer in map packages (`#5865 `_) * add maintainer * modify map_tf_generator's maintainer --------- -* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) +* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) * feat(map): use component_interface_specs in map_projection_loader * update map_loader * style(pre-commit): autofix @@ -64,7 +64,7 @@ Changelog for package tier4_map_launch * fix test --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_projection_loader): add map_projection_loader (`#3986 `_) +* feat(map_projection_loader): add map_projection_loader (`#3986 `_) * feat(map_projection_loader): add map_projection_loader * style(pre-commit): autofix * Update default algorithm @@ -118,13 +118,13 @@ Changelog for package tier4_map_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -132,7 +132,7 @@ Changelog for package tier4_map_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(map_loader): add selected map loader (`#3286 `_) +* feat(map_loader): add selected map loader (`#3286 `_) * add id based map loader * add metadata publisher * feat(map_loader): add support for sequential_map_loading @@ -145,7 +145,7 @@ Changelog for package tier4_map_launch --------- Co-authored-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) +* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) * feat(map_loader): add grid coordinates for partial/differential map load * style(pre-commit): autofix * update readme @@ -155,7 +155,7 @@ Changelog for package tier4_map_launch * update readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) +* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) * chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch Update launch/tier4_map_launch/launch/map.launch.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> @@ -163,20 +163,20 @@ Changelog for package tier4_map_launch remove config path * chore(tier4_map_launch): fix lanelet launch name --------- -* refactor(tier4_map_launch): remove unused config (`#2722 `_) +* refactor(tier4_map_launch): remove unused config (`#2722 `_) * refactor(tier4_map_launch): remove unused config * load lanelet2 parameter from upper level * revert the addition of lanelet2 param -* revert(tier4_map_launch): move config back to autoware.universe (`#2561 `_) +* revert(tier4_map_launch): move config back to autoware.universe (`#2561 `_) * revert(tier4_map_launch): move config back to autoware.universe * fix map.launch.xml -* feat(tier4_map_launch): remove configs and move to autoware_launch (`#2538 `_) +* feat(tier4_map_launch): remove configs and move to autoware_launch (`#2538 `_) * feat(tier4_map_launch): remove configs and move to autoware_launch * update readme * fix readme * remove config * update readme -* feat(map_loader): add differential map loading interface (`#2417 `_) +* feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -186,7 +186,7 @@ Changelog for package tier4_map_launch * fix readme * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) +* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) * first commit * debugged * update readme @@ -198,7 +198,7 @@ Changelog for package tier4_map_launch * set default param to false * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) +* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) * first commit * reverted unnecessary modification * ci(pre-commit): autofix @@ -248,13 +248,13 @@ Changelog for package tier4_map_launch * remove fmt from target_link_libraries in test * minor fix in cmakelists.txt Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_map_launch): add maintainers (`#2416 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* chore(tier4_map_launch): add maintainers (`#2416 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -287,7 +287,7 @@ Changelog for package tier4_map_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(map_tf_generator)!: launching planning_simulator without pointcloud map (`#1216 `_) +* feat(map_tf_generator)!: launching planning_simulator without pointcloud map (`#1216 `_) * feat(map_tf_generator): add vector map tf generator * fix(ad_service_state_monitor): rm unused cofig param * chore: change launching vector_map_tf_generator @@ -303,22 +303,22 @@ Changelog for package tier4_map_launch * Update map/map_tf_generator/Readme.md Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add parameter argument for lanelet2_map_loader (`#954 `_) +* feat: add parameter argument for lanelet2_map_loader (`#954 `_) * feat: add parameter argument for lanelet2_map_loader * feat: add comment -* refactor: tier4_map_launch (`#953 `_) +* refactor: tier4_map_launch (`#953 `_) * refactor: tier4_map_launch * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) +* style: fix format of package.xml (`#844 `_) +* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) * ci(pre-commit): autofix * ci(pre-commit): autofix * fix(map_loader): add UTM projector to map_loader package @@ -341,11 +341,11 @@ Changelog for package tier4_map_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt Co-authored-by: Berkay -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml index 3b30a891ae555..2fbdbc694cacc 100644 --- a/launch/tier4_map_launch/launch/map.launch.xml +++ b/launch/tier4_map_launch/launch/map.launch.xml @@ -20,7 +20,7 @@ - + @@ -31,13 +31,13 @@ - + - + @@ -47,7 +47,7 @@ - + diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index ca2d46db38a52..a5120987605f5 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -18,9 +18,9 @@ ament_cmake_auto autoware_cmake + autoware_map_loader autoware_map_projection_loader autoware_map_tf_generator - map_loader ament_lint_auto autoware_lint_common diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst index 22f5b181e4688..b0cb6c69d6892 100644 --- a/launch/tier4_perception_launch/CHANGELOG.rst +++ b/launch/tier4_perception_launch/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package tier4_perception_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(tier4_perception_launch): enable to receive argument `centerpoint_model_name` from autoware_launch (`#9003 `_) +* chore(tier4_perception_launch): enable to receive argument `centerpoint_model_name` from autoware_launch (`#9003 `_) * enable to receive arguments * adopt transfusion * add lidar_detection_model_type @@ -19,30 +19,30 @@ Changelog for package tier4_perception_launch * fix condition when default model name --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_perception_launch): remove duplicated parameter declaration (`#9031 `_) -* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (`#8676 `_) +* refactor(tier4_perception_launch): remove duplicated parameter declaration (`#9031 `_) +* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (`#8676 `_) * main process * style(pre-commit): autofix * add exception if input is invalid --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_lidar_transfusion): split config (`#8205 `_) +* refactor(autoware_lidar_transfusion): split config (`#8205 `_) * refactor(autoware_lidar_transfusion): split config * style(pre-commit): autofix * chore(autoware_lidar_transfusion): bypass schema CI workflow --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(tier4_perception_launch): launch namespace of `detection_by_tracker` (`#8702 `_) +* fix(tier4_perception_launch): launch namespace of `detection_by_tracker` (`#8702 `_) fix: namespace of detection_by_tracker do not need to have the prefix `autoware\_` -* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) +* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) * add param and schema file, edit readme * . * correct linter errors --------- -* fix(tier4_perception_launch): set `use_image_transport` in launch (`#8315 `_) +* fix(tier4_perception_launch): set `use_image_transport` in launch (`#8315 `_) set use_image_transport in launch -* refactor: image transport decompressor/autoware prefix (`#8197 `_) +* refactor: image transport decompressor/autoware prefix (`#8197 `_) * refactor: add `autoware` namespace prefix to image_transport_decompressor * refactor(image_transport_decompressor): add `autoware` prefix to the package code * refactor: update package name in CODEOWNER @@ -53,13 +53,13 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor: traffic light arbiter/autoware prefix (`#8181 `_) +* refactor: traffic light arbiter/autoware prefix (`#8181 `_) * refactor(traffic_light_arbiter): apply `autoware` namespace to traffic_light_arbiter * refactor(traffic_light_arbiter): update the package name in CODEWONER * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter @@ -69,20 +69,20 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. style(pre-commit): autofix -* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) * refactor: add autoware namespace prefix to `tensorrt_yolox` * refactor: apply `autoware` namespace to tensorrt_yolox * chore: update CODEOWNERS * fix: resolve `yolox_tiny` to work --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor @@ -90,29 +90,29 @@ Changelog for package tier4_perception_launch * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector * chore: rename traffic_light_visualization to autoware_traffic_light_visualization --------- -* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) +* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) * refactor: add autoware namespace prefix * chore: update CODEOWNERS * refactor: add `autoware` prefix --------- -* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) +* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) refactor: rename image_projection_based_fusion to autoware_image_projection_based_fusion -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix * fix: cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) +* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) * refactor(ground_segmentation): add package name prefix of autoware\_ * fix: update prefix cmake --------- -* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) +* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) * add prefix in lidar_centerpoint * add .gitignore * change include package name in image_projection_based fusion @@ -132,11 +132,11 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) refactor: rename detected_object_validation to autoware_detected_object_validation -* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) refactor(detected_object_feature_remover): add package name prefix of autoware\_ -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -150,15 +150,15 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(traffic_light_visualization): fix namespace and directory structure (`#7968 `_) +* refactor(traffic_light_visualization): fix namespace and directory structure (`#7968 `_) * feat: namespace fix and directory structure * chore: Remove main.cpp and implement node by template --------- -* refactor(traffic_light_fine_detector): fix namespace and directory structure (`#7973 `_) +* refactor(traffic_light_fine_detector): fix namespace and directory structure (`#7973 `_) * refactor: add autoware on the namespace * refactor: rename nodelet to node --------- -* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) +* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) * add prefix * add prefix in code owner * style(pre-commit): autofix @@ -167,31 +167,31 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Amadeusz Szymko Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) * refactor(euclidean_cluster): add package name prefix of autoware\_ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(traffic_light_classifier): fix namespace and directory structure (`#7970 `_) +* refactor(traffic_light_classifier): fix namespace and directory structure (`#7970 `_) * refactor: update namespace for traffic light classifier code * refactor: directory structure --------- -* fix(tier4_perception_launch): delete unnecessary dependency (`#8101 `_) +* fix(tier4_perception_launch): delete unnecessary dependency (`#8101 `_) delete cluster merger -* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) -* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) -* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) -* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) +* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) +* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) +* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) +* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) * refactor(raindrop_cluster_filter): add package name prefix of autoware\_ * fix: typo --------- -* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering @@ -201,16 +201,16 @@ Changelog for package tier4_perception_launch * refactor: rename object_range_splitter to autoware_object_range_splitter * refactor: update readme --------- -* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) +* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) * feat: update namespace and directory structure for compare_map_segmentation code * refactor: update directory structure * fix: add missing include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add missing dependency (`#7919 `_) +* chore: add missing dependency (`#7919 `_) add raindrop_cluster_filter dependency -* feat: migrating pointcloud types (`#6996 `_) +* feat: migrating pointcloud types (`#6996 `_) * feat: changed most of sensing to the new type * chore: started applying changes to the perception stack * feat: confirmed operation until centerpoint @@ -230,9 +230,9 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> -* refactor(tier4_perception_launch): add maintainer to tier4_perception_launch (`#7893 `_) +* refactor(tier4_perception_launch): add maintainer to tier4_perception_launch (`#7893 `_) refactor: add maintainer to tier4_perception_launch -* feat(tier4_perception_launch): add image segmentation based pointcloud filter (`#7225 `_) +* feat(tier4_perception_launch): add image segmentation based pointcloud filter (`#7225 `_) * feat(tier4_perception_launch): add image segmentation based pointcloud filter * chore: typo * fix: detection launch @@ -240,9 +240,9 @@ Changelog for package tier4_perception_launch * Revert "chore: add maintainer" This reverts commit 5adfef6e9ca8196d3ba88ad574b2ba35489a5e49. --------- -* refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure (`#7748 `_) +* refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure (`#7748 `_) chore: update namespace and file structure -* refactor(ground_segmentation)!: fix namespace and directory structure (`#7744 `_) +* refactor(ground_segmentation)!: fix namespace and directory structure (`#7744 `_) * refactor: update namespace in ground_segmentation files * refactor: update namespace in ground_segmentation files * refactor: update ground_segmentation namespace and file structure @@ -251,13 +251,13 @@ Changelog for package tier4_perception_launch * refactor: update ransac tester --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ground_segmentation): fix bug (`#7771 `_) -* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) +* fix(ground_segmentation): fix bug (`#7771 `_) +* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) * feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger * feat: add use_multi_channel_tracker_merger argument to simulator launch This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator. --------- -* feat(tier4_perception_launch): enable multi channel tracker merger (`#7459 `_) +* feat(tier4_perception_launch): enable multi channel tracker merger (`#7459 `_) * feat: introduce multi channel tracker merger feat: separate filters feat: filtering camera lidar fusion @@ -282,7 +282,7 @@ Changelog for package tier4_perception_launch * fix: group to avoid argument mixture --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_perception_launch): perception launcher refactoring second round (`#7440 `_) +* chore(tier4_perception_launch): perception launcher refactoring second round (`#7440 `_) * feat: separate filters * fix: object validator to modular * chore: remove default values from subsequent launch files @@ -305,9 +305,9 @@ Changelog for package tier4_perception_launch * fix: radar object filter parameter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* chore(tier4_perception_launch): perception launcher refactoring (`#7194 `_) +* chore(tier4_perception_launch): perception launcher refactoring (`#7194 `_) * fix: reorder object merger launchers * fix: separate detection by tracker launch * fix: refactor tracking launch @@ -322,12 +322,12 @@ Changelog for package tier4_perception_launch * fix: rename radar detector to filter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): enable low_intensity_filter as default (`#7390 `_) -* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) +* fix(tier4_perception_launch): enable low_intensity_filter as default (`#7390 `_) +* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) * add prefix -* chore(tier4_perception_launch): rename autoware_map_based_prediction_depend (`#7395 `_) -* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) -* feat(lidar_transfusion): add lidar_transfusion 3D detection package (`#6890 `_) +* chore(tier4_perception_launch): rename autoware_map_based_prediction_depend (`#7395 `_) +* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) +* feat(lidar_transfusion): add lidar_transfusion 3D detection package (`#6890 `_) * feat(lidar_transfusion): add lidar_transfusion 3D detection package * style(pre-commit): autofix * style(lidar_transfusion): cpplint @@ -371,7 +371,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) * feat!: replace autoware_auto_msgs with autoware_msgs for launch files Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong @@ -382,7 +382,7 @@ Changelog for package tier4_perception_launch Co-authored-by: NorahXiong Co-authored-by: beginningfan Co-authored-by: Yukihiro Saito -* feat(multi_object_tracker): multi object input (`#6820 `_) +* feat(multi_object_tracker): multi object input (`#6820 `_) * refactor: frequently used types, namespace * test: multiple inputs * feat: check latest measurement time @@ -455,7 +455,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* feat(tier4_perception_launch): fix typo error (`#6999 `_) +* feat(tier4_perception_launch): fix typo error (`#6999 `_) * feat: downsample perception input pointcloud * fix: add group if to switch downsample node * fix: add test and exec depend @@ -465,7 +465,7 @@ Changelog for package tier4_perception_launch * fix: fix name --------- Co-authored-by: Yukihiro Saito -* feat(tier4_perception_launch): downsample perception input pointcloud (`#6886 `_) +* feat(tier4_perception_launch): downsample perception input pointcloud (`#6886 `_) * feat: downsample perception input pointcloud * fix: add group if to switch downsample node * fix: add test and exec depend @@ -474,15 +474,15 @@ Changelog for package tier4_perception_launch * chore: refactor perception.launch.xml --------- Co-authored-by: Yukihiro Saito -* feat: add low_intensity_cluster_filter (`#6850 `_) +* feat: add low_intensity_cluster_filter (`#6850 `_) * feat: add low_intensity_cluster_filter * chore: typo * fix: build test error --------- -* fix(voxel_grid_downsample_filter): add intensity field (`#6849 `_) +* fix(voxel_grid_downsample_filter): add intensity field (`#6849 `_) fix(downsample_filter): add intensity field -* fix(lidar_centerpoint): add param file for centerpoint_tiny (`#6901 `_) -* refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages (`#6591 `_) +* fix(lidar_centerpoint): add param file for centerpoint_tiny (`#6901 `_) +* refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages (`#6591 `_) * refactor: lidar_centerpoint * refactor: pointpainting * chore: fix launch @@ -506,11 +506,11 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): change traffic light recognition pipeline (`#6879 `_) +* fix(tier4_perception_launch): change traffic light recognition pipeline (`#6879 `_) style(pre-commit): autofix refactor: topic name -* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) -* feat(lidar_centerpoint): output the covariance of pose and twist (`#6573 `_) +* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) +* feat(lidar_centerpoint): output the covariance of pose and twist (`#6573 `_) * feat: postprocess variance * feat: output variance * feat: add has_variance to config @@ -531,13 +531,13 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri Co-authored-by: Taekjin LEE -* fix(ground_segmentation launch): fix topic name conflict in additional_lidars option (`#6801 `_) +* fix(ground_segmentation launch): fix topic name conflict in additional_lidars option (`#6801 `_) fix(ground_segmentation launch): fix topic name conflict when using additional lidars * Contributors: Amadeusz Szymko, Esteve Fernandez, Kenzo Lobos Tsunekawa, Kosuke Takeuchi, Kotaro Uetake, Mamoru Sobue, Manato Hirabayashi, Masato Saeki, Mehmet Emin BAŞOĞLU, Ryohsuke Mitsudome, Shunsuke Miura, Taekjin LEE, Tao Zhong, Yoshi Ri, Yuki TAKAGI, Yutaka Kondo, awf-autoware-bot[bot], badai nguyen, oguzkaganozt 0.26.0 (2024-04-03) ------------------- -* feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion node (`#5485 `_) +* feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion node (`#5485 `_) * add synchronized ogm fusion node * add launch test for grid map fusion node * fix test cases input msg error @@ -552,15 +552,15 @@ Changelog for package tier4_perception_launch * chore: fix ogm pointcloud subscription * feat: enable to publish pipeline latency --------- -* chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height (`#6549 `_) +* chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height (`#6549 `_) * chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height * fix: typo --------- -* chore(ground_segmentation): rename topic and node (`#6536 `_) +* chore(ground_segmentation): rename topic and node (`#6536 `_) * chore(ground_segmentation): rename topic and node * docs: update synchronized_grid_map_fusion --------- -* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) * feat(perception_evaluator): add perception_evaluator tmp update @@ -578,14 +578,14 @@ Changelog for package tier4_perception_launch * feat: add test * fix: ci check --------- -* chore(image_projection_based_fusion): rename debug topics (`#6418 `_) +* chore(image_projection_based_fusion): rename debug topics (`#6418 `_) * chore(image_projection_based_fusion): rename debug topics * style(pre-commit): autofix * fix: roi_pointcloud_fusion namespace --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: remove `tensorrt_yolo` from package dependencies in launcher (`#6377 `_) -* chore(traffic_light_map_based_detector): rework parameters (`#6200 `_) +* fix: remove `tensorrt_yolo` from package dependencies in launcher (`#6377 `_) +* chore(traffic_light_map_based_detector): rework parameters (`#6200 `_) * chore: use config * chore: use config * fix: revert min_timestamp_offset @@ -600,31 +600,31 @@ Changelog for package tier4_perception_launch Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda -* feat(tensorrt_yolo): remove package (`#6361 `_) +* feat(tensorrt_yolo): remove package (`#6361 `_) * feat(tensorrt_yolo): remove package * remove tensorrt_yolo inclusion * feat: add multiple yolox launcher --------- Co-authored-by: Shunsuke Miura -* chore(traffic_light_fine_detector_and_classifier): rework parameters (`#6216 `_) +* chore(traffic_light_fine_detector_and_classifier): rework parameters (`#6216 `_) * chore: use config * style(pre-commit): autofix * chore: move build only back --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(object_merger): rework parameters (`#6160 `_) +* chore(object_merger): rework parameters (`#6160 `_) * chore(object_merger): parametrize some parameters * style(pre-commit): autofix * revert priority_mode --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(radar_object_tracker): move tracker config directory to parameter yaml (`#6250 `_) +* chore(radar_object_tracker): move tracker config directory to parameter yaml (`#6250 `_) * chore: move tracker config directory to parameter yaml * fix: add allow_substs to fix error * fix: use radar tracking parameter from autoware_launch --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat: remove use_pointcloud_container (`#6115 `_) +* feat: remove use_pointcloud_container (`#6115 `_) * feat!: remove use_pointcloud_container * fix pre-commit * fix: completely remove use_pointcloud_container after merge main @@ -632,7 +632,7 @@ Changelog for package tier4_perception_launch * revert: revert change in probabilistic_occupancy_grid_map * revert change in launcher of ogm --------- -* chore(lidar_centerpoint): rework parameters (`#6167 `_) +* chore(lidar_centerpoint): rework parameters (`#6167 `_) * chore(lidar_centerpoint): use config * revert unnecessary fix * fix: revert build_only option @@ -642,7 +642,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat(detection): add container option (`#6228 `_) +* feat(detection): add container option (`#6228 `_) * feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option * revert lidar_perception_model * style(pre-commit): autofix @@ -661,26 +661,26 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* chore(tier4_perception_launch): fix arg name radar lanelet filter (`#6215 `_) -* chore(radar_crossing_objects_noise_filter): add config file (`#6210 `_) +* chore(tier4_perception_launch): fix arg name radar lanelet filter (`#6215 `_) +* chore(radar_crossing_objects_noise_filter): add config file (`#6210 `_) * chore(radar_crossing_objects_noise_filter): add config file * bug fix * merge main branch --------- -* chore(radar_object_clustering): fix config arg name (`#6214 `_) -* chore(object_velocity_splitter): rework parameters (`#6158 `_) +* chore(radar_object_clustering): fix config arg name (`#6214 `_) +* chore(object_velocity_splitter): rework parameters (`#6158 `_) * chore(object_velocity_splitter): add param file * fix * fix arg name * fix: update launch param handling --------- -* fix(tier4_perception_launch): fix a bug in `#6159 `_ (`#6203 `_) -* chore(object_range_splitter): rework parameters (`#6159 `_) +* fix(tier4_perception_launch): fix a bug in `#6159 `_ (`#6203 `_) +* chore(object_range_splitter): rework parameters (`#6159 `_) * chore(object_range_splitter): add param file * fix arg name * feat: use param file from autoware.launch --------- -* refactor(tier4_perception_launch): refactor object_recognition/detection launcher (`#6152 `_) +* refactor(tier4_perception_launch): refactor object_recognition/detection launcher (`#6152 `_) * refactor: align mode parameters * refactor: cluster detector and merger * refactor: separate object merger launches @@ -688,8 +688,8 @@ Changelog for package tier4_perception_launch * refactor: lidar detector modules * chore: fix mis spell, align typo, clean-up --------- -* chore(pointcloud_container): move glog_component to autoware_launch (`#6114 `_) -* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) +* chore(pointcloud_container): move glog_component to autoware_launch (`#6114 `_) +* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) * feat!: replace use_pointcloud_container * feat: remove from planning * fix: fix to remove all use_pointcloud_container @@ -707,14 +707,14 @@ Changelog for package tier4_perception_launch * fix: fix pre-commit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(pointpainting): fix param path declaration (`#6106 `_) +* fix(pointpainting): fix param path declaration (`#6106 `_) * fix(pointpainting): fix param path declaration * remove pointpainting_model_name * revert: revert unnecessary change --------- -* fix(image_projection_based_fusion): re-organize the parameters for image projection fusion (`#6075 `_) +* fix(image_projection_based_fusion): re-organize the parameters for image projection fusion (`#6075 `_) re-organize the parameters for image projection fusion -* feat(probabilistic_occupancy_grid_map): add grid map fusion node (`#5993 `_) +* feat(probabilistic_occupancy_grid_map): add grid map fusion node (`#5993 `_) * add synchronized ogm fusion node * add launch test for grid map fusion node * fix test cases input msg error @@ -725,7 +725,7 @@ Changelog for package tier4_perception_launch * fix: change ogm fusion node pub policy to reliable * chore: remove files outof scope with divied PR --------- -* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) +* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) * add: crosswalk traffic light recognition * fix: set conf=0 when occluded * fix: clean code @@ -789,40 +789,40 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu -* feat: add support of overwriting signals if harsh backlight is detected (`#5852 `_) +* feat: add support of overwriting signals if harsh backlight is detected (`#5852 `_) * feat: add support of overwriting signals if backlit is detected * feat: remove default parameter in nodelet and update lauch for composable node * docs: update README * docs: update README * feat: update confidence to 0.0 corresponding signals overwritten by unkonwn --------- -* chore: add glog_component for pointcloud_container (`#5716 `_) -* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) +* chore: add glog_component for pointcloud_container (`#5716 `_) +* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) rename lidar topic Co-authored-by: yamato-ando -* fix: add missing param on perception launch: (`#5812 `_) +* fix: add missing param on perception launch: (`#5812 `_) detection_by_tracker_param_path was missing -* refactor(multi_object_tracker): put node parameters to yaml file (`#5769 `_) +* refactor(multi_object_tracker): put node parameters to yaml file (`#5769 `_) * rework multi object tracker parameters * update README * rework radar tracker parameter too --------- -* refactor(tier4_perception_launch): refactor perception launcher (`#5630 `_) -* chore(tier4_perception_launcher): remove launch parameter default of detection_by_tracker (`#5664 `_) +* refactor(tier4_perception_launch): refactor perception launcher (`#5630 `_) +* chore(tier4_perception_launcher): remove launch parameter default of detection_by_tracker (`#5664 `_) * chore(tier4_perception_launcher): remove launch parameter default * chore: typo --------- -* feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (`#5605 `_) -* refactor(radar_object_clustering): move radar object clustering parameter to param file (`#5451 `_) +* feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (`#5605 `_) +* refactor(radar_object_clustering): move radar object clustering parameter to param file (`#5451 `_) * move radar object clustering parameter to param file * remove default parameter settings and fix cmakelists --------- -* build(tier4_perception_launch): add tracking_object_merger (`#5602 `_) -* fix(detection_by_tracker): add ignore option for each label (`#5473 `_) +* build(tier4_perception_launch): add tracking_object_merger (`#5602 `_) +* fix(detection_by_tracker): add ignore option for each label (`#5473 `_) * fix(detection_by_tracker): add ignore for each class * fix: launch --------- -* feat(tier4_perception_launch): add parameter to control detection_by_tracker on/off (`#5313 `_) +* feat(tier4_perception_launch): add parameter to control detection_by_tracker on/off (`#5313 `_) * add parameter to control detection_by_tracker on/off * style(pre-commit): autofix * Update launch/tier4_perception_launch/launch/perception.launch.xml @@ -830,11 +830,11 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* fix(tracking_object_merger): fix unintended error in radar tracking merger (`#5328 `_) +* fix(tracking_object_merger): fix unintended error in radar tracking merger (`#5328 `_) * fix: fix tracking merger node * fix: unintended condition setting --------- -* feat(tier4_perception_launch): add radar far object integration in tracking stage (`#5269 `_) +* feat(tier4_perception_launch): add radar far object integration in tracking stage (`#5269 `_) * update tracking/perception launch * switch tracker launcher mode with argument * update prediction to switch by radar_long_range_integration paramter @@ -847,7 +847,7 @@ Changelog for package tier4_perception_launch * refactor: rename and remove paramters in prediction.launch * refactor: rename merger control variable from string to bool --------- -* fix(image_projection_based_fusion): add iou_x use in long range for roi_cluster_fusion (`#5148 `_) +* fix(image_projection_based_fusion): add iou_x use in long range for roi_cluster_fusion (`#5148 `_) * fix: add iou_x for long range obj * fix: add launch file param * chore: fix unexpect calc iou in long range @@ -856,29 +856,29 @@ Changelog for package tier4_perception_launch * docs: update readme * chore: refactor --------- -* fix(tier4_perception_launch): fix faraway detection to reduce calculation cost (`#5233 `_) +* fix(tier4_perception_launch): fix faraway detection to reduce calculation cost (`#5233 `_) * fix(tier4_perception_launch): fix node order in radar_based_detection.launch * fix comment out unused node --------- -* fix(detected_object_validation): change the points_num of the validator to be set class by class (`#5177 `_) +* fix(detected_object_validation): change the points_num of the validator to be set class by class (`#5177 `_) * fix: add param for each object class * fix: add missing classes param * fix: launch file * fix: typo * chore: refactor --------- -* feat(perception_launch): add data_path arg to perception launch (`#5069 `_) +* feat(perception_launch): add data_path arg to perception launch (`#5069 `_) * feat(perception_launch): add var data_path to perception.launch * feat(perception_launch): update default center_point_model_path --------- -* fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order (`#5166 `_) +* fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order (`#5166 `_) * fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order * style(pre-commit): autofix * add far_object_merger_sync_queue_size param for package arg --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(pointcloud_preprocessor): organize input twist topic (`#5125 `_) - * fix(pointcloud_preprocessor): organize input twist topic (`#25 `_) +* fix(pointcloud_preprocessor): organize input twist topic (`#5125 `_) + * fix(pointcloud_preprocessor): organize input twist topic (`#25 `_) * fix(pointcloud_preprocessor): organize input twist topic * style(pre-commit): autofix * fix build bug @@ -893,11 +893,11 @@ Changelog for package tier4_perception_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion (`#5026 `_) +* fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion (`#5026 `_) * fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion * fix conflict --------- -* refactor(perception): rearrange clustering pipeline (`#4999 `_) +* refactor(perception): rearrange clustering pipeline (`#4999 `_) * fix: change downsample filter * fix: remove downsamle after compare map * fix: add low range cropbox @@ -907,9 +907,9 @@ Changelog for package tier4_perception_launch * chore: change node name * fix: launch argument pasrer --------- -* fix(tier4_perception_launch): camera lidar fusion launch (`#4983 `_) +* fix(tier4_perception_launch): camera lidar fusion launch (`#4983 `_) fix: camera lidar fusion launch -* feat(image_projection_based_fusion): add roi based clustering for small unknown object detection (`#4681 `_) +* feat(image_projection_based_fusion): add roi based clustering for small unknown object detection (`#4681 `_) * feat: add roi_pointcloud_fusion node fix: postprocess fix: launch file @@ -941,7 +941,7 @@ Changelog for package tier4_perception_launch * fix: update camera_lidar_radar mode launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(crosswalk_traffic_light_estimator): rework parameters (`#4699 `_) +* refactor(crosswalk_traffic_light_estimator): rework parameters (`#4699 `_) * refactor the configuration files of the node crosswalk_traffic_light_estimator according to the new ROS node config guideline. update the parameter information in the README.md * style(pre-commit): autofix @@ -954,7 +954,7 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura -* fix(crosswalk_traffic_light_estimator): move crosswalk after fusion (`#4734 `_) +* fix(crosswalk_traffic_light_estimator): move crosswalk after fusion (`#4734 `_) * fix: move crosswalk after fusion * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> @@ -963,8 +963,8 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura -* chore: add TLR model args to launch files (`#4805 `_) -* fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline (`#4779 `_) +* chore: add TLR model args to launch files (`#4805 `_) +* fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline (`#4779 `_) * fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline * fix clustering update * fix from Camera-LidAR fusion @@ -977,15 +977,15 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(launch): add missing launch args and defaults to lidar_based_detection.launch.xml (`#4596 `_) +* fix(launch): add missing launch args and defaults to lidar_based_detection.launch.xml (`#4596 `_) * Update lidar_based_detection.launch.xml Some launch arguments were missing. These arguments and their defaults were added. * changed default of objects_filter_method changed default of the "objects_filter_method" to "lanelet_filter" as requested. --------- -* feat(tier4_perception_launch): lower the detection by tracker priority to suppress yaw oscillation (`#4690 `_) +* feat(tier4_perception_launch): lower the detection by tracker priority to suppress yaw oscillation (`#4690 `_) lower the detection by tracker priority to suppress yaw oscillation -* feat(image_projection_based_fusion): add objects filter by rois (`#4546 `_) +* feat(image_projection_based_fusion): add objects filter by rois (`#4546 `_) * tmp style(pre-commit): autofix update @@ -1010,32 +1010,32 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* refactor(detected_object_validation): add an option for filtering and validation (`#4402 `_) +* refactor(detected_object_validation): add an option for filtering and validation (`#4402 `_) * init commit * update occupancy_grid_map path * update argument names * correct radar launch objects_filter_method name * remove radar option --------- -* refactor(traffic_light_arbiter): read parameters from config file (`#4454 `_) -* fix(compare_map_segmentation): change to using kinematic_state topic (`#4448 `_) -* chore(tier4_perception_launch): fix typo (`#4406 `_) +* refactor(traffic_light_arbiter): read parameters from config file (`#4454 `_) +* fix(compare_map_segmentation): change to using kinematic_state topic (`#4448 `_) +* chore(tier4_perception_launch): fix typo (`#4406 `_) * fix(tier4_perception_launch): fix typo * fix typo --------- -* fix(traffic_light): fix traffic_light_arbiter pipeline (`#4393 `_) +* fix(traffic_light): fix traffic_light_arbiter pipeline (`#4393 `_) * fix(traffic_light): fix traffic_light_arbiter pipeline * style(pre-commit): autofix * fix: output topic name --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(euclidean_cluster): add disuse downsample in clustering pipeline (`#4385 `_) +* fix(euclidean_cluster): add disuse downsample in clustering pipeline (`#4385 `_) * fix: add unuse downsample launch option * fix: add default param for downsample option * fix typo --------- Co-authored-by: Shunsuke Miura -* fix(compare_map_segmentation): add option to reduce distance_threshold in z axis (`#4243 `_) +* fix(compare_map_segmentation): add option to reduce distance_threshold in z axis (`#4243 `_) * fix(compare_map_segmentation): keep low level pointcloud * fix: add option to compare lower neighbor points * docs: readme update @@ -1046,21 +1046,21 @@ Changelog for package tier4_perception_launch * fix: reduce voxel leaf size in z axis * fix: change param type --------- -* refactor(image_projection_based_fusion): update rois topic names definitions (`#4356 `_) -* refactor(image_projection_based_fusion): read lidar models parameters from autoware_launch (`#4278 `_) +* refactor(image_projection_based_fusion): update rois topic names definitions (`#4356 `_) +* refactor(image_projection_based_fusion): read lidar models parameters from autoware_launch (`#4278 `_) * init commit * add centerpoints param * add detection_class_remapper.param.yaml * remove unused centerpoint param path --------- Co-authored-by: Yusuke Muramatsu -* feat(tier4_perception_launch): add radar tracking node to launcher (`#4361 `_) +* feat(tier4_perception_launch): add radar tracking node to launcher (`#4361 `_) * update tracking/perception launch * switch tracker launcher mode with argument * add radar tracker dependency --------- Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* feat(tier4_perception_launch): add radar faraway detection (`#4330 `_) +* feat(tier4_perception_launch): add radar faraway detection (`#4330 `_) * feat(tier4_perception_launch): add radar faraway detection * apply pre-commit * fix unused param @@ -1068,11 +1068,11 @@ Changelog for package tier4_perception_launch * add exec depends --------- Co-authored-by: Shunsuke Miura -* refactor(object_merger): read parameters from autoware_launch (`#4339 `_) +* refactor(object_merger): read parameters from autoware_launch (`#4339 `_) init commit -* refactor(map_based_prediction): read parameters from autoware_launch (`#4337 `_) +* refactor(map_based_prediction): read parameters from autoware_launch (`#4337 `_) init commit -* refactor(euclidean clustering): read parameters from autoware_launch (`#4262 `_) +* refactor(euclidean clustering): read parameters from autoware_launch (`#4262 `_) * update clustering param path * update param paths * style(pre-commit): autofix @@ -1080,7 +1080,7 @@ Changelog for package tier4_perception_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: separate traffic_light_utils from perception_utils (`#4207 `_) +* chore: separate traffic_light_utils from perception_utils (`#4207 `_) * separate traffic_light_utils from perception_utils * style(pre-commit): autofix * fix namespace bug @@ -1095,7 +1095,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* feat(tier4_perception_launch): update traffic light launch (`#4176 `_) +* feat(tier4_perception_launch): update traffic light launch (`#4176 `_) * first commit * add image number arg * style(pre-commit): autofix @@ -1109,23 +1109,23 @@ Changelog for package tier4_perception_launch Co-authored-by: Shunsuke Miura Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* feat(traffic_light): improved traffic_light_map_based_detector and new traffic_light_fine_detector package (`#4084 `_) +* feat(traffic_light): improved traffic_light_map_based_detector and new traffic_light_fine_detector package (`#4084 `_) * update traffic_light_map_based_detector traffic_light_classifier traffic_light_fine_detector traffic_light_multi_camera_fusion * replace autoware_auto_perception_msgs with tier4_perception_msgs --------- -* refactor(occpuancy grid map): move param to yaml (`#4038 `_) -* fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_detection (`#3950 `_) +* refactor(occpuancy grid map): move param to yaml (`#4038 `_) +* fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_detection (`#3950 `_) * fix: launch arguments * chore: revert arg --------- -* fix(tier4_perception_launch): sync param path (`#3713 `_) +* fix(tier4_perception_launch): sync param path (`#3713 `_) * fix(tier4_perception_launch):modify sync_param_path reading method * fix(tier4_perception_launch): fix image_number used for testing * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): fix image_number description (`#3686 `_) -* feat(traffic_light_ssd_fine_detector): add support of ssd trained by mmdetection (`#3485 `_) +* fix(tier4_perception_launch): fix image_number description (`#3686 `_) +* feat(traffic_light_ssd_fine_detector): add support of ssd trained by mmdetection (`#3485 `_) * feat: update to allow out-of-order for scores and boxes * feat: add GatherTopk plugin * feat: add GridPriors plugin @@ -1141,11 +1141,11 @@ Changelog for package tier4_perception_launch Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> --------- Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* fix(tier4_perception_launch): fix duplicated topic name (`#3645 `_) +* fix(tier4_perception_launch): fix duplicated topic name (`#3645 `_) * fix(tier4_perception_launch): fix dublicated topic name * chore: rename topic --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -1153,7 +1153,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(compare_map_segmentation): update voxel_based for dynamic map loader with map grid coordinate (`#3277 `_) +* fix(compare_map_segmentation): update voxel_based for dynamic map loader with map grid coordinate (`#3277 `_) * fix: change map grid searching * refactoring * fix: reload map after initilization @@ -1171,14 +1171,14 @@ Changelog for package tier4_perception_launch * chore: typo * docs: correct parameter description --------- -* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) +* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) * add occcupancy_grid_map method/param var to launcher * added CODEOWNER * Revert "added CODEOWNER" This reverts commit 2213c2956af19580d0a7788680aab321675aab3b. * add maintainer --------- -* feat(elevation_map_loader): add support for seleceted_map_loader (`#3344 `_) +* feat(elevation_map_loader): add support for seleceted_map_loader (`#3344 `_) * feat(elevation_map_loader): add support for sequential_map_loading * fix(elevation_map_loader): fix bug * feat(elevation_map_loader): make it possible to adjust the number of PCD maps loaded at once when using sequential map loading @@ -1187,7 +1187,7 @@ Changelog for package tier4_perception_launch * refactor(elevation_map_loader): Add a range of param. And refactor receiveMap. * feat(elevation_map_loader): Change info level log into debug level log with throttle. And remove abbreviation --------- -* feat(tier4_perception_launch): refactored occupancy_grid_map launcher (`#3058 `_) +* feat(tier4_perception_launch): refactored occupancy_grid_map launcher (`#3058 `_) * rebase on to master add scan_frame and raytrace center * rebase to main @@ -1202,9 +1202,9 @@ Changelog for package tier4_perception_launch * document: update README * enable to change origins by lanch args --------- -* chore(tier4_perception_launch): add custom parameters for roi_cluster_fusion (`#3281 `_) -* fix(tier4_perception_launch): add missing parameter for voxel based compare map filter (`#3251 `_) -* feat(compare_map_segmentation): add dynamic map loading for voxel_based_compare_map_filter (`#3087 `_) +* chore(tier4_perception_launch): add custom parameters for roi_cluster_fusion (`#3281 `_) +* fix(tier4_perception_launch): add missing parameter for voxel based compare map filter (`#3251 `_) +* feat(compare_map_segmentation): add dynamic map loading for voxel_based_compare_map_filter (`#3087 `_) * feat: add interface to dynamic loader * refactor: refactoring * refactor: refactoring @@ -1217,7 +1217,7 @@ Changelog for package tier4_perception_launch * fix: add neighbor map_cell checking * fix: neighbor map grid check --------- -* feat(elevation_map_loader): use polygon iterator to speed up (`#2885 `_) +* feat(elevation_map_loader): use polygon iterator to speed up (`#2885 `_) * use grid_map::PolygonIterator instead of grid_map::GridMapIterator * formatting * use use_lane_filter option @@ -1229,16 +1229,16 @@ Changelog for package tier4_perception_launch * Change use_lane_filter param default to false * update README --------- -* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) +* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) * fixed psim occupancy grid map problem * fix parameter designation --------- Co-authored-by: Takayuki Murooka -* fix(tier4_perception_launch): fix config path (`#3078 `_) +* fix(tier4_perception_launch): fix config path (`#3078 `_) * fix(tier4_perception_launch): fix config path * use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_launch --------- -* feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation (`#3032 `_) +* feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation (`#3032 `_) * add scan_frame and raytrace center * add scan frame to laserscan based method * update readme @@ -1247,31 +1247,31 @@ Changelog for package tier4_perception_launch * fix config and launch file * fixed laserscan based launcher --------- -* fix(tier4_perception_launch): remove unnecessary node (`#2941 `_) -* fix(tier4_perception_launch): fix typo (`#2926 `_) -* feat(tier4_perception_launch): update cam/lidar detection architecture (`#2845 `_) +* fix(tier4_perception_launch): remove unnecessary node (`#2941 `_) +* fix(tier4_perception_launch): fix typo (`#2926 `_) +* feat(tier4_perception_launch): update cam/lidar detection architecture (`#2845 `_) * feat(tier4_perception_launch): update cam/lidar detection architecture * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): autoupdate (`#2819 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ground_segmentation): fix unuse_time_series_filter bug (`#2824 `_) -* feat(tier4_perception_launch): add option for euclidean lidar detection model (`#842 `_) +* fix(ground_segmentation): fix unuse_time_series_filter bug (`#2824 `_) +* feat(tier4_perception_launch): add option for euclidean lidar detection model (`#842 `_) feat(tier4_perception_launch): add euclidean lidar detection model -* fix(tier4_perception_launch): sync with tier4/autoware_launch (`#2568 `_) +* fix(tier4_perception_launch): sync with tier4/autoware_launch (`#2568 `_) * fix(tier4_perception_launch): sync with tier4/autoware_launch * move centerpoint configs to perception.launch.xml -* feat(tier4_perception_launch): change the merge priority of roi_cluster_fusion to the lowest (`#2522 `_) -* feat(tier4_perception_launch): remove configs and move to autoware_launch (`#2539 `_) +* feat(tier4_perception_launch): change the merge priority of roi_cluster_fusion to the lowest (`#2522 `_) +* feat(tier4_perception_launch): remove configs and move to autoware_launch (`#2539 `_) * feat(tier4_perception_launch): remove configs and move to autoware_launch * update readme * remove config * update readme -* fix(ground segmentation): change crop box range and add processing time (`#2260 `_) +* fix(ground segmentation): change crop box range and add processing time (`#2260 `_) * fix(ground segmentation): change crop box range * chore(ground_segmentation): add processing time -* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) +* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) * sync launch file from tier4 autoware launch * sync tlr launcher * ci(pre-commit): autofix @@ -1281,26 +1281,26 @@ Changelog for package tier4_perception_launch * fix exec_depend in package.xml * Sync traffic light node Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(multiframe-pointpainting): add multi-sweep pointpainting (`#2124 `_) +* feat(multiframe-pointpainting): add multi-sweep pointpainting (`#2124 `_) * feat: multiframe-pointpainting * ci(pre-commit): autofix * fix: retrieve changes of classremap - * fix(image_projection_based_fusion): fix input to quaternion (`#1933 `_) + * fix(image_projection_based_fusion): fix input to quaternion (`#1933 `_) * add: launch files Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): fix missing container argument (`#2087 `_) +* fix(tier4_perception_launch): fix missing container argument (`#2087 `_) * fix(tier4_perception_launch): fix missing container argument * fix(tier4_perception_launch): rm unused param -* chore: fix typos (`#2140 `_) +* chore: fix typos (`#2140 `_) * chore: fix typos * chore: remove names in NOTE -* feat: use tracker shape size in detection by tracker (`#1683 `_) +* feat: use tracker shape size in detection by tracker (`#1683 `_) * support ref size in detection by tracker * add priority mode in object_merger * update launch @@ -1315,8 +1315,8 @@ Changelog for package tier4_perception_launch * :put_litter_in_its_place: Co-authored-by: Yusuke Muramatsu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(multi_object_tracking): enable delay compensation (`#1349 `_) -* fix(ground segmentation): add elevation grid ground filter (`#1899 `_) +* feat(multi_object_tracking): enable delay compensation (`#1349 `_) +* fix(ground segmentation): add elevation grid ground filter (`#1899 `_) * fix: add grid elevation scan ground filter * chore: typo * fix: merge with scan ground filter @@ -1342,20 +1342,20 @@ Changelog for package tier4_perception_launch * chore: typo * docs: update Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): add enable_fine_detection_option (`#1991 `_) +* feat(tier4_perception_launch): add enable_fine_detection_option (`#1991 `_) * feat(tier4_perception_launch): add enable_fine_detection_option * chore: rename * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): add arg to swtich lidar_centerpoint model (`#1865 `_) -* feat(multi_object_tracker): update bus size (`#1887 `_) -* refactor(lidar_centerpoint): change default threshold params (`#1874 `_) -* feat(multi_object_tracker): increase max-area for truck and trailer (`#1710 `_) +* feat(tier4_perception_launch): add arg to swtich lidar_centerpoint model (`#1865 `_) +* feat(multi_object_tracker): update bus size (`#1887 `_) +* refactor(lidar_centerpoint): change default threshold params (`#1874 `_) +* feat(multi_object_tracker): increase max-area for truck and trailer (`#1710 `_) * feat(multi_object_tracker): increase max-area for truck * feat: change truck and trailer max-area gate params * feat: change trailer params -* fix(tier4_perception_launch): add input/pointcloud to ground-segmentation (`#1833 `_) -* feat(radar_object_fusion_to_detected_object): enable confidence compensation in radar fusion (`#1755 `_) +* fix(tier4_perception_launch): add input/pointcloud to ground-segmentation (`#1833 `_) +* feat(radar_object_fusion_to_detected_object): enable confidence compensation in radar fusion (`#1755 `_) * update parameter * feature(radar_fusion_to_detected_object): add debug topic * feat(tier4_perception_launch): enable confidence compensation in radar fusion @@ -1366,13 +1366,13 @@ Changelog for package tier4_perception_launch * fix parameter * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): make lanelet object filter optional (`#1698 `_) +* feat(tier4_perception_launch): make lanelet object filter optional (`#1698 `_) * feat(tier4_perception_launch): make lanelet object filter optional * feat(tier4_perception_launch): fix arg * feat(tier4_perception_launch): fix argument var * feat(tier4_perception_launch): add new parameter Co-authored-by: Kaan Colak -* fix(ground_filter): remove base_frame and fix ray_ground_filter (`#1614 `_) +* fix(ground_filter): remove base_frame and fix ray_ground_filter (`#1614 `_) * fix(ray_ground_filter): cannot remove ground pcl * fix: remove base_frame * docs: update docs @@ -1380,30 +1380,30 @@ Changelog for package tier4_perception_launch * chores: remove unnecessary calculation * docs: update parameters * docs: update parameters -* fix(tier4_perception_launch): remove duplicated namespace of clustering in camera-lidar-fusion mode (`#1655 `_) -* feat(tier4_perception_launch): change unknown max area (`#1484 `_) -* fix(tier4_perception_launch): fix error of tier4_perception_launch_param_path (`#1445 `_) -* feat(tier4_perception_launch): declare param path argument (`#1394 `_) +* fix(tier4_perception_launch): remove duplicated namespace of clustering in camera-lidar-fusion mode (`#1655 `_) +* feat(tier4_perception_launch): change unknown max area (`#1484 `_) +* fix(tier4_perception_launch): fix error of tier4_perception_launch_param_path (`#1445 `_) +* feat(tier4_perception_launch): declare param path argument (`#1394 `_) * feat(tier4_perception_launch): declare param path argument * Update launch/tier4_perception_launch/launch/perception.launch.xml * fix ci error * fix ci error -* feature: update and fix detection launch (`#1340 `_) +* feature: update and fix detection launch (`#1340 `_) * cosmetic change * fix bug * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): add group tag (`#1238 `_) +* fix(tier4_perception_launch): add group tag (`#1238 `_) * fix(tier4_perception_launch): add group tag * fix missing tag -* fix(tier4_perception_launch): pass pointcloud_container params to pointcloud_map_filter in detection module (`#1312 `_) +* fix(tier4_perception_launch): pass pointcloud_container params to pointcloud_map_filter in detection module (`#1312 `_) * fix(tier4_perception_launch): pass pointcloud_container to detection module * fix(tier4_perception_launch): container name in detection -* feat(tier4_perception_launch): add object filter params to tier4_perception_launch (`#1322 `_) +* feat(tier4_perception_launch): add object filter params to tier4_perception_launch (`#1322 `_) * Add params to tier4_perception_launch * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: avoid same name nodes in detection module (`#1301 `_) +* fix: avoid same name nodes in detection module (`#1301 `_) * fix: avoid same name nodes in detection module * add node_name of object_association_merger * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -1414,24 +1414,24 @@ Changelog for package tier4_perception_launch Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> * apply pre-commit Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* Feature/radar fusion launch (`#1294 `_) - * feat(tier4_perception_launch): add radar launcher (`#1263 `_) +* Feature/radar fusion launch (`#1294 `_) + * feat(tier4_perception_launch): add radar launcher (`#1263 `_) * feat(tier4_perception_launch): add radar launcher * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix reviewed by `#1263 `_ + * fix reviewed by `#1263 `_ * fix format * fix default arg * Revert "fix default arg" This reverts commit 72b2690dc8cbd91fa5b14da091f4027c2c5fa661. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): revert `#1263 `_ (`#1285 `_) -* feat(tier4_perception_launch): add radar launcher (`#1263 `_) +* feat(tier4_perception_launch): revert `#1263 `_ (`#1285 `_) +* feat(tier4_perception_launch): add radar launcher (`#1263 `_) * feat(tier4_perception_launch): add radar launcher * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change iou param of multi object tracking (`#1267 `_) -* feat(object_filter): add detected object filter (`#1221 `_) +* feat: change iou param of multi object tracking (`#1267 `_) +* feat(object_filter): add detected object filter (`#1221 `_) * Add detected object filter * Refactor class name * Add readme @@ -1456,13 +1456,13 @@ Changelog for package tier4_perception_launch * Fix typo, remove debug code. * Use shared_ptr Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add option to use validator node in detection module (`#1233 `_) +* feat: add option to use validator node in detection module (`#1233 `_) * feat: add option to use validator node in detection module * fix * remove use_validator option in detection/perception.launch * fix -* feat: change tracking param (`#1161 `_) -* feat: unknown objects from perception (`#870 `_) +* feat: change tracking param (`#1161 `_) +* feat: unknown objects from perception (`#870 `_) * initial commit * change param * modify launch @@ -1481,14 +1481,14 @@ Changelog for package tier4_perception_launch * modify for pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* feat: change data association param (`#1158 `_) -* fix(tier4_perception_launch): add missing dependencies in package.xml (`#1024 `_) -* feat: use multithread for traffic light container as default (`#995 `_) -* fix: delete unused arg (`#988 `_) +* feat: change data association param (`#1158 `_) +* fix(tier4_perception_launch): add missing dependencies in package.xml (`#1024 `_) +* feat: use multithread for traffic light container as default (`#995 `_) +* fix: delete unused arg (`#988 `_) * fix: delete unused arg * rename: detection_preprocessor -> pointcloud_map_filter -* fix(tier4_perception_launch): rename pkg name (`#981 `_) -* feat: add down sample filter before detection module (`#961 `_) +* fix(tier4_perception_launch): rename pkg name (`#981 `_) +* feat: add down sample filter before detection module (`#961 `_) * feat: add down sample filter before detection module * fix format * change comment @@ -1501,21 +1501,21 @@ Changelog for package tier4_perception_launch * fix pre-commit Co-authored-by: Yukihiro Saito Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: remove deprecated package in prediction launch (`#875 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: remove deprecated package in prediction launch (`#875 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat: change ogm default launch (`#735 `_) -* feat(scan_ground_filter): change launch option and threshold (`#670 `_) +* style: fix format of package.xml (`#844 `_) +* feat: change ogm default launch (`#735 `_) +* feat(scan_ground_filter): change launch option and threshold (`#670 `_) * Add care for near but high points * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(image_projection_based_fusion, roi_cluster_fusion): roi and obstacle fusion method (`#548 `_) +* feat(image_projection_based_fusion, roi_cluster_fusion): roi and obstacle fusion method (`#548 `_) * feat: init image_projection_based_fusion package * feat: debugger * feat: port roi_cluster_fusion to image_projection_based_fusion @@ -1540,7 +1540,7 @@ Changelog for package tier4_perception_launch * chore: add maintainer * feat: change the output in perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) +* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) * initial commit * ci(pre-commit): autofix * change param @@ -1556,15 +1556,15 @@ Changelog for package tier4_perception_launch * add single frame mode * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: localization and perception launch for tutorial (`#645 `_) +* fix: localization and perception launch for tutorial (`#645 `_) * fix: localization and perception launch for tutorial * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: launch detected object validator (`#585 `_) +* feat: launch detected object validator (`#585 `_) * fix bug * add validator in launch * bug fix @@ -1574,13 +1574,13 @@ Changelog for package tier4_perception_launch * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* fix(multi_object_tracker): data association parameter (`#541 `_) +* fix(multi_object_tracker): data association parameter (`#541 `_) * sort matrix * ANIMAL->TRAILER * apply change to another file * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(multi_object_tracker): add iou gate (`#483 `_) +* feat(multi_object_tracker): add iou gate (`#483 `_) * add iou gate * ci(pre-commit): autofix * cosmetic change @@ -1589,23 +1589,23 @@ Changelog for package tier4_perception_launch * fix bug * fix tier4_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: detection launch in perception_launch (`#506 `_) -* fix: integration miss related to camera lidar fusion (`#481 `_) +* fix: detection launch in perception_launch (`#506 `_) +* fix: integration miss related to camera lidar fusion (`#481 `_) * fix integration miss * bug fix * add detection by tracker * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml -* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) +* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) * fix(dummy_perception): fix to use launch file in perception launch * fix(tier4_perception_launch): fix angle increment for occupancy grid -* fix: change the default mode of perception.launch (`#409 `_) +* fix: change the default mode of perception.launch (`#409 `_) * fix: change the default mode of perception.launch * chore: remove unnecessary comments * chore: remove default values -* ci: update .yamllint.yaml (`#229 `_) +* ci: update .yamllint.yaml (`#229 `_) * ci: update .yamllint.yaml * chore: fix for yamllint -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst index e9d127f7db11b..c66ad480472ca 100644 --- a/launch/tier4_planning_launch/CHANGELOG.rst +++ b/launch/tier4_planning_launch/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package tier4_planning_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) +* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) Register node plugin with autoware scoping -* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) * refactor free space planner subscribers * implement scenario switching for edge cases * fix scenario selector test @@ -18,11 +18,11 @@ Changelog for package tier4_planning_launch * improve near target logic * use timer based implementation for obstacle check --------- -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -36,15 +36,15 @@ Changelog for package tier4_planning_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) +* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) * feat: update namespace and directory structure for compare_map_segmentation code * refactor: update directory structure * fix: add missing include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) -* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) +* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) +* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) * add pointcloud to obstacle properties * add tf listener & pointcloud subscriber * add parameters for pointcloud obstacle @@ -116,18 +116,18 @@ Changelog for package tier4_planning_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) +* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) * refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) +* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) * fix * fix --------- -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) -* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) -* refactor(bpp): add namespace `autoware::` (`#7437 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* refactor(bpp): add namespace `autoware::` (`#7437 `_) * refactor: add namespace autoware:: * refactor(bpp-common): add namespace autoware:: * refactor(ablc): add namespace autoware:: @@ -141,24 +141,24 @@ Changelog for package tier4_planning_launch * refactor(tier4_planning_launch): add namespace autoware:: * refactor(sbp): add namespace autoware:: --------- -* refactor(behavior_path_planner): prefix autoware\_ to behavior_path_planner package (`#7433 `_) +* refactor(behavior_path_planner): prefix autoware\_ to behavior_path_planner package (`#7433 `_) * move dir * fix pluginlib --------- -* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) -* refactor(behavior_path_sampling_planner_module): add autoware prefix (`#7392 `_) -* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) +* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) +* refactor(behavior_path_sampling_planner_module): add autoware prefix (`#7392 `_) +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) * refactor(mission_planner)!: add autoware prefix and namespace * fix svg --------- -* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) +* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) refactor(freespace_planner)!: add autoawre prefix -* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) +* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) refactor(external_cmd_selector): prefix package and namespace with autoware\_ -* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) -* fix(motion_planning.launch): fix input traj of obstacle_velocity_limiter (`#7386 `_) -* refactor(out_of_lane): remove from behavior_velocity (`#7359 `_) -* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) +* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) +* fix(motion_planning.launch): fix input traj of obstacle_velocity_limiter (`#7386 `_) +* refactor(out_of_lane): remove from behavior_velocity (`#7359 `_) +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) * git mv * fix * fix launch @@ -168,47 +168,47 @@ Changelog for package tier4_planning_launch * fix static_centerline_optimizer * fix --------- -* fix(tier4_planning_launch): unexpected modules were registered (`#7377 `_) -* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) +* fix(tier4_planning_launch): unexpected modules were registered (`#7377 `_) +* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) refactor(costmap_generator): add autoware prefix -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) +* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) * add autoware\_ prefix to planning_validator * add prefix to package name in .pages * fix link of the image --------- -* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) +* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) * refactor(behavior_velocity_planner_common): add autoware prefix * refactor(behavior_velocity_planner_common): fix run_out module * refactor(behavior_velocity_planner_common): fix for autoware_behavior_velocity_walkway_module * refactor(behavior_velocity_planner_common): remove unnecessary using --------- -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) -* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) * fix(autoware_surround_obstacle_checker): rename * fix(autoware_surround_obstacle_checker): rename header * fix(launch): update package name --------- -* refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace (`#7153 `_) +* refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace (`#7153 `_) * refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace * style(pre-commit): autofix * fix: fix issue loading packages that have been prefixed --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) +* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) chore(autoware_planning_topic_converter): rename -* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) +* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) chore(autoware_external_velocity_limit_selector): rename -* refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace (`#7154 `_) +* refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace (`#7154 `_) * refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_velocity_virtual_traffic_light_module): prefix package with autoware\_ and move code to the autoware namespace (`#7155 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) +* refactor(autoware_velocity_virtual_traffic_light_module): prefix package with autoware\_ and move code to the autoware namespace (`#7155 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) * feat!: replace autoware_auto_msgs with autoware_msgs for launch files Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong @@ -219,7 +219,7 @@ Changelog for package tier4_planning_launch Co-authored-by: NorahXiong Co-authored-by: beginningfan Co-authored-by: Yukihiro Saito -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -230,7 +230,7 @@ Changelog for package tier4_planning_launch * fix: test * fix: test --------- -* chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename avoidance package (`#7168 `_) +* chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename avoidance package (`#7168 `_) * chore(autoware_behavior_path_static_obstacle_avoidance_module): rename package and namespace * chore(autoware_behavior_path_dynamic_obstacle_avoidance_module): rename package and namespace * chore(tier4_planning_launch): update module name @@ -240,13 +240,13 @@ Changelog for package tier4_planning_launch * fix(AbLC): fix file name * docs: update module name --------- -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) -* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) -* build(behavior_path_external_request_lane_change_module): prefix package and namespace with autoware\_ (`#6636 `_) -* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) -* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) +* build(behavior_path_external_request_lane_change_module): prefix package and namespace with autoware\_ (`#6636 `_) +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) This reverts commit 51b5f830780eb69bd1a7dfe60e295773f394fd8e. -* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) +* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) * feat(launch): add logging_demo::LoggerConfig into container * fix(logger_level_reconfigure_plugin): fix yaml * feat(logging_level_configure): add composable node @@ -255,13 +255,13 @@ Changelog for package tier4_planning_launch 0.26.0 (2024-04-03) ------------------- -* chore(tier4_planning_launch): set log output both (`#6685 `_) -* feat(traffic_light): depend on is_simulation for scenario simulator (`#6498 `_) +* chore(tier4_planning_launch): set log output both (`#6685 `_) +* feat(traffic_light): depend on is_simulation for scenario simulator (`#6498 `_) * feat(traffic_light): depend on is_simulation for scenario simulator * fix comments * fix --------- -* feat(mission_planner)!: introduce route_selector node (`#6363 `_) +* feat(mission_planner)!: introduce route_selector node (`#6363 `_) * feat(mission_planner): introduce route_selector node * remove unused file * fix use goal pose only when resuming @@ -274,7 +274,7 @@ Changelog for package tier4_planning_launch * remove debug code * use full license text instead of spdx --------- -* feat: remove use_pointcloud_container (`#6115 `_) +* feat: remove use_pointcloud_container (`#6115 `_) * feat!: remove use_pointcloud_container * fix pre-commit * fix: completely remove use_pointcloud_container after merge main @@ -282,7 +282,7 @@ Changelog for package tier4_planning_launch * revert: revert change in probabilistic_occupancy_grid_map * revert change in launcher of ogm --------- -* feat(behavior_path_sampling_module): add sampling based planner (`#6131 `_) +* feat(behavior_path_sampling_module): add sampling based planner (`#6131 `_) * first commit: add only necessary bpp code for template * change name of file * delete more unrelated code @@ -400,27 +400,27 @@ Changelog for package tier4_planning_launch * remove unused commented code --------- Co-authored-by: Maxime CLEMENT -* feat(behavior_velocity_planner): add enable_all_modules_auto_mode argument to launch files for behavior velocity planner modules (`#6094 `_) +* feat(behavior_velocity_planner): add enable_all_modules_auto_mode argument to launch files for behavior velocity planner modules (`#6094 `_) * set default value for enable_all_modules_auto_mode * fix enable_rtc configuration in scene_module_manager_interface.hpp * Refactor scene module managers to use getEnableRTC function --------- -* feat(behavior_path_planner): add enable_all_modules_auto_mode argument to launch files for behavior path planner modules (`#6093 `_) +* feat(behavior_path_planner): add enable_all_modules_auto_mode argument to launch files for behavior path planner modules (`#6093 `_) * Add enable_all_modules_auto_mode argument to launch files * set default value for enable_all_modules_auto_mode * fix enable_rtc configuration in scene_module_manager_interface.hpp --------- -* refactor(tier4_planning_launch): remove duplicate arguments in launchfile (`#6040 `_) -* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (`#5835 `_) -* refactor(behavior_path_planner): remove use_experimental_lane_change_function (`#5889 `_) -* fix(behavior, launch): fix launch error (`#5847 `_) +* refactor(tier4_planning_launch): remove duplicate arguments in launchfile (`#6040 `_) +* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (`#5835 `_) +* refactor(behavior_path_planner): remove use_experimental_lane_change_function (`#5889 `_) +* fix(behavior, launch): fix launch error (`#5847 `_) * fix(launch): set null to avoid launch error * fix(behavior): check null * chore(behavior): add comment * fix(launch): set at the end of list * fix(launch): fill empty string at the end of module list --------- -* refactor(bpp): use pluginlib to load scene module (`#5771 `_) +* refactor(bpp): use pluginlib to load scene module (`#5771 `_) * refactor(bpp): use pluginlib * refactor(tier4_planning_launch): update launcher * refactor(avoidance): support pluginlib @@ -432,30 +432,30 @@ Changelog for package tier4_planning_launch * refactor(bpp): move interface * fix(bpp): add const --------- -* fix(tier4_planning_launch): obstacle_cruise_planner pipeline is not connected (`#5542 `_) -* refactor(tier4_planning_launch): align argument name (`#5505 `_) +* fix(tier4_planning_launch): obstacle_cruise_planner pipeline is not connected (`#5542 `_) +* refactor(tier4_planning_launch): align argument name (`#5505 `_) * chore(tier4_planning_launch): align arument name * refactor(tier4_planning_launch): pass params directly --------- -* refactor(tier4_planning_launch): use xml style launch (`#5502 `_) +* refactor(tier4_planning_launch): use xml style launch (`#5502 `_) * refactor(tier4_planning_launch): use xml style launch * refactor(tier4_planning_launch): remove python style launch * fix(tier4_planning_launch): enable console output --------- -* chore(planning modules): remove maintainer... (`#5458 `_) +* chore(planning modules): remove maintainer... (`#5458 `_) remove shimizu-san from maintainer and add maintainer for stop line and turn signal decider -* refactor(tier4_planning_launch): use xml style launch (`#5470 `_) +* refactor(tier4_planning_launch): use xml style launch (`#5470 `_) * refactor(tier4_planning_launch): use xml style launch * refactor(tier4_planning_launch): remove python style launch * fix(tier4_plannning_launch): fix namespace --------- -* refactor(tier4_planning_launch): use xml style launch (`#5448 `_) +* refactor(tier4_planning_launch): use xml style launch (`#5448 `_) * refactor(tier4_planning_launch): use xml style launch * refactor(tier4_planning_launch): remove python style launch --------- -* feat(behavior_path_planner): subscribe traffic light recognition result (`#5436 `_) +* feat(behavior_path_planner): subscribe traffic light recognition result (`#5436 `_) feat(avoidance): use traffic light signal info -* feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (`#5235 `_) +* feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (`#5235 `_) * change namespace of auto_mode * delete RTC auto mode manager package * delete rtc_replayer.param @@ -464,7 +464,7 @@ Changelog for package tier4_planning_launch * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) +* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) * feat(behavior_velocity): support new traffic signal interface * style(pre-commit): autofix * add missing dependency @@ -481,12 +481,12 @@ Changelog for package tier4_planning_launch * add debug log when the signal data is outdated --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(mission_planning.launch): add glog in mission planner (`#4745 `_) -* feat(motion_velocity_smoother.launch): add glog component (`#4746 `_) +* feat(mission_planning.launch): add glog in mission planner (`#4745 `_) +* feat(motion_velocity_smoother.launch): add glog component (`#4746 `_) * use node instead of include * use container & add glog component --------- -* feat(glog): add glog in planning and control modules (`#4714 `_) +* feat(glog): add glog in planning and control modules (`#4714 `_) * feat(glog): add glog component * formatting * remove namespace @@ -502,9 +502,9 @@ Changelog for package tier4_planning_launch * add copyright --------- Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* chore(tier4_planning_launch): enable to abort lane change from a parameter file (`#4469 `_) -* refactor(behavior_path_planner): remove unused config files (`#4241 `_) -* refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package (`#4114 `_) +* chore(tier4_planning_launch): enable to abort lane change from a parameter file (`#4469 `_) +* refactor(behavior_path_planner): remove unused config files (`#4241 `_) +* refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package (`#4114 `_) * Add path_smoothing package * Add elastic band smoother node * Add Debug section to elastic band documentation @@ -515,13 +515,13 @@ Changelog for package tier4_planning_launch * Publish path with backward paths * Rename path_smoothing -> path_smoother --------- -* fix(obstacle_velocity_limiter): remove hardcoded parameter (`#4098 `_) -* refactor(lane_change): add namespace for lane-change-cancel (`#4090 `_) +* fix(obstacle_velocity_limiter): remove hardcoded parameter (`#4098 `_) +* refactor(lane_change): add namespace for lane-change-cancel (`#4090 `_) * refactor(lane_change): add namespace for lane-change-cancel * fix indent * lane_change_cancel -> cancel --------- -* refactor(behavior_velocity_planner): update launch and parameter files for plugin (`#3811 `_) +* refactor(behavior_velocity_planner): update launch and parameter files for plugin (`#3811 `_) * feat: move param files * WIP * feat: use behavior velocity module param file list @@ -535,22 +535,22 @@ Changelog for package tier4_planning_launch * move param * add test depend --------- -* refactor(start_planner): rename pull out to start planner (`#3908 `_) -* feat: handle invalid areas / lanelets (`#3000 `_) -* feat(behavior_path_planner): output stop reasons (`#3807 `_) +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* feat: handle invalid areas / lanelets (`#3000 `_) +* feat(behavior_path_planner): output stop reasons (`#3807 `_) * feat(launch): remap stop reasons * feat(behavior_path_planner): add interface to output stop reasons * feat(behavior_path_planner): add interface to output stop reasons * feat(avoidance): output stop reason --------- -* feat(path_sampler): add a sampling based path planner (`#3532 `_) -* style: fix typos (`#3617 `_) +* feat(path_sampler): add a sampling based path planner (`#3532 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -558,7 +558,7 @@ Changelog for package tier4_planning_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(behavior_path_planner): add dynamic obstacle avoidance module (`#3415 `_) +* feat(behavior_path_planner): add dynamic obstacle avoidance module (`#3415 `_) * implement dynamic avoidance module * update * update @@ -576,18 +576,18 @@ Changelog for package tier4_planning_launch * fix --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) -* refactor(behavior_path_planeer): use common.params for lane change (`#3520 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* refactor(behavior_path_planeer): use common.params for lane change (`#3520 `_) * refactor(behavior_path_planeer): use common.params for lane change * update --------- -* feat(behavior_path_planner): move lane_following_params to behavior path params (`#3445 `_) +* feat(behavior_path_planner): move lane_following_params to behavior path params (`#3445 `_) * feat(behavior_path_planner): move lane_following_params to behavior path params * fix missing pakage include * fix test --------- -* chore(planning_evaluator): add dependency (`#3388 `_) -* feat(behavior_velocity_planner): add out of lane module (`#3191 `_) +* chore(planning_evaluator): add dependency (`#3388 `_) +* feat(behavior_velocity_planner): add out of lane module (`#3191 `_) * Add OutOfLane module to the behavior_velocity_planner * Add functions for calculating path footprint and overlaps (WIP) * Update behavior_planning launch file to add out_of_lane param file @@ -650,7 +650,7 @@ Changelog for package tier4_planning_launch * Remove default value for declare_parameter of 'launch_run_out' --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* feat(avoidance_by_lc): add new module to avoid obstacle by lane change (`#3125 `_) +* feat(avoidance_by_lc): add new module to avoid obstacle by lane change (`#3125 `_) * feat(rtc_interface): add new module avoidance by lc * feat(launch): add new param files * feat(avoidance_by_lc): add avoidance by lane change module @@ -660,12 +660,12 @@ Changelog for package tier4_planning_launch * fix request condition * fix build error --------- -* feat(behavior_path_planner): update behavior param file (`#3220 `_) +* feat(behavior_path_planner): update behavior param file (`#3220 `_) * feat(behavior_path_planner): add new config file for manger * feat(launch): add config path * fix(behavior_path_planner): add missing param file --------- -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) * add original diagnostic_convertor * add test * fix typo @@ -715,8 +715,8 @@ Changelog for package tier4_planning_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(mission_planner): refine goal pose with parameter and add config file (`#2603 `_) -* feat(behavior_path_planner): pull over freespace parking (`#2879 `_) +* feat(mission_planner): refine goal pose with parameter and add config file (`#2603 `_) +* feat(behavior_path_planner): pull over freespace parking (`#2879 `_) * feat(behavior_path_planner): pull over freespace parking * Update planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp Co-authored-by: Takamasa Horibe @@ -729,19 +729,19 @@ Changelog for package tier4_planning_launch * pre-commit --------- Co-authored-by: Takamasa Horibe -* refactor(obstacle_avoidance_planner): clean up the code (`#2796 `_) +* refactor(obstacle_avoidance_planner): clean up the code (`#2796 `_) * update obstacle avoidance planner, static centerline optimizer, tier4_planning_launch * update velocity on joint and correct trajectory z * update * minor change * pre-commit --------- -* refactor(planning_error_monitor): remove pkg (`#2604 `_) +* refactor(planning_error_monitor): remove pkg (`#2604 `_) * remove planning_error_monitor * remove launch --------- -* fix(tier4_planning_launch): remove unnecessary config (`#2910 `_) -* feat(behavior_velocity): add mandatory detection area for run out module (`#2864 `_) +* fix(tier4_planning_launch): remove unnecessary config (`#2910 `_) +* feat(behavior_velocity): add mandatory detection area for run out module (`#2864 `_) * feat: add mandatory detection area * change the topic order to subscribe compare map filtered points * define function for transform pointcloud @@ -763,12 +763,12 @@ Changelog for package tier4_planning_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): expand the drivable area based on the vehicle footprint (`#2609 `_) -* ci(pre-commit): autoupdate (`#2819 `_) +* feat(behavior_path_planner): expand the drivable area based on the vehicle footprint (`#2609 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_planning_launch): add missing params and sort params of costmap generator (`#2764 `_) -* refactor(behavior_path_planner): set occupancy grid map topic name from launch (`#2725 `_) -* feat(behavior_path_planner): external request lane change (`#2442 `_) +* chore(tier4_planning_launch): add missing params and sort params of costmap generator (`#2764 `_) +* refactor(behavior_path_planner): set occupancy grid map topic name from launch (`#2725 `_) +* feat(behavior_path_planner): external request lane change (`#2442 `_) * feature(behavior_path_planner): add external request lane change module feature(behavior_path_planner): fix for RTC feature(behavior_path_planner): fix decision logic @@ -790,7 +790,7 @@ Changelog for package tier4_planning_launch * Update rtc_auto_mode_manager.param.yaml * fix(route_handler): remove redundant code * fix(behavior_path_planner): fix for turn signal -* feat(planning_validator): add planning validator package (`#1947 `_) +* feat(planning_validator): add planning validator package (`#1947 `_) * feat(planning_validator): add planning validator package * remove planning_error_monitor * pre-commit @@ -827,21 +827,21 @@ Changelog for package tier4_planning_launch * update doc! * fix readme * update -* feat(behavior_path_planner): modified goal with uuid (`#2602 `_) +* feat(behavior_path_planner): modified goal with uuid (`#2602 `_) * feat(behavior_path_planner): modified goal with uuid * fix typo * fix for top header * change to PoseWithUuidStamped -* fix(tier4_planning_launch): make use_experimental_lane_change_function available (`#2676 `_) -* refactor(tier4_planning_launch): organize arguments (`#2666 `_) +* fix(tier4_planning_launch): make use_experimental_lane_change_function available (`#2676 `_) +* refactor(tier4_planning_launch): organize arguments (`#2666 `_) * refactor(tier4_planning_launch): organize arguments * update -* feat(behavior_path_planner): param to skip some linestring types when expanding the drivable area (`#2288 `_) -* feat(behavior_velocity_planner): add speed bump module (`#647 `_) +* feat(behavior_path_planner): param to skip some linestring types when expanding the drivable area (`#2288 `_) +* feat(behavior_velocity_planner): add speed bump module (`#647 `_) Co-authored-by: Kosuke Takeuchi Co-authored-by: Takayuki Murooka -* fix(tier4_planning_launch): remove unintended config file (`#2554 `_) -* feat(tier4_planning_launch): remove configs and move to autoware_launch (`#2543 `_) +* fix(tier4_planning_launch): remove unintended config file (`#2554 `_) +* feat(tier4_planning_launch): remove configs and move to autoware_launch (`#2543 `_) * feat(tier4_planning_launch): remove configs and move to autoware_launch * fix * remove config @@ -849,15 +849,15 @@ Changelog for package tier4_planning_launch * Update launch/tier4_planning_launch/README.md Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(intersection): fixed stuck vehicle detection area (`#2463 `_) -* feat(behavior_path_planner): remove unnecessary parameters (`#2516 `_) +* fix(intersection): fixed stuck vehicle detection area (`#2463 `_) +* feat(behavior_path_planner): remove unnecessary parameters (`#2516 `_) * feat(behavior_path_planner): remove unnecessary parameters * remove from static_centerline_optimizer -* feat(obstacle_cruies_planner): improve pid_based cruise planner (`#2507 `_) +* feat(obstacle_cruies_planner): improve pid_based cruise planner (`#2507 `_) * feat(obstacle_cruies_planner): improve pid_based cruise planner * fix * update param in tier4_planning_launch -* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) +* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -878,14 +878,14 @@ Changelog for package tier4_planning_launch * fix some codes * change to makerker array * change avoidance utils -* refactor(behavior_path_planner): move turn_signal_on_swerving param to bpp.param.yaml (`#2406 `_) +* refactor(behavior_path_planner): move turn_signal_on_swerving param to bpp.param.yaml (`#2406 `_) * move turn_signal_on_swerving param to bpp.param.yaml * change default value to true * add description * ci(pre-commit): autofix Co-authored-by: beyza Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(avoidance): improve avoidance target filter (`#2329 `_) +* feat(avoidance): improve avoidance target filter (`#2329 `_) * feat(route_handler): add getMostLeftLanelet() * feat(avoidance): calc shiftable ratio in avoidance target filtering process * feat(avoidance): output object's debug info for rviz @@ -893,7 +893,7 @@ Changelog for package tier4_planning_launch * feat(tier4_planning_launch): add new params for avoidance * fix(avoidance): reorder params for readability * fix(tier4_planning_launch): reorder params for readability -* feat(behavior_path_planner): update path when object is gone (`#2314 `_) +* feat(behavior_path_planner): update path when object is gone (`#2314 `_) * feat(behavior_path_planner): update state with obstacles. feat(behavior_path_planner): update path when obstacle is gone * ci(pre-commit): autofix @@ -911,7 +911,7 @@ Changelog for package tier4_planning_launch * ci(pre-commit): autofix * fix typos Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): add option to turn signal while obstacle swerving (`#2333 `_) +* feat(behavior_path_planner): add option to turn signal while obstacle swerving (`#2333 `_) * add turn_signal_on_swerving param * add option for signals * get turn_signal_on_swerving param from config file @@ -919,27 +919,27 @@ Changelog for package tier4_planning_launch * ci(pre-commit): autofix Co-authored-by: beyza Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb (`#2357 `_) +* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb (`#2357 `_) * fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb * add flag to enable clipping fixed trajectory * add maintainer -* fix(slow_down_planner): improper parameter used in slow down (`#2276 `_) +* fix(slow_down_planner): improper parameter used in slow down (`#2276 `_) * fix(slow_down_planner): improper parameter used in slow down * fix(tier4_planning_launch): remove hardcoded param enable_slow_down from launch.py -* feat(obstacle_avoidance_planner): parameterize non_fixed_trajectory_length (`#2349 `_) -* fix(behavior_path_planner): replace object_hold_max_count with object_last_seen_threshold (`#2345 `_) +* feat(obstacle_avoidance_planner): parameterize non_fixed_trajectory_length (`#2349 `_) +* fix(behavior_path_planner): replace object_hold_max_count with object_last_seen_threshold (`#2345 `_) fix: replace object_hold_max_count with object_last_seen_threshold -* feat(behavior_velocity_planner): parameterize ego_yield_query_stop_duration for crosswalk module (`#2346 `_) +* feat(behavior_velocity_planner): parameterize ego_yield_query_stop_duration for crosswalk module (`#2346 `_) feat: parameterize ego_yield_query_stop_duration for crosswalk module -* feat(avoidance): improve avoidance target filter (`#2282 `_) +* feat(avoidance): improve avoidance target filter (`#2282 `_) * feat(avoidance): use envelope polygon for measure against perception noise * feat(avoidance): use moving time for measure against perception noise * feat(tier4_planning_launch): add new params for avoidance * fix(avoidance): reserve marker array size -* feat(motion_velocity_smoother): tunable deceleration limit for curve … (`#2278 `_) +* feat(motion_velocity_smoother): tunable deceleration limit for curve … (`#2278 `_) feat(motion_velocity_smoother): tunable deceleration limit for curve deceleration -* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) -* feat: add 'obstacle_velocity_limiter' package (`#1579 `_) +* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) +* feat: add 'obstacle_velocity_limiter' package (`#1579 `_) * Initial commit with barebone SafeVelocityAdjustorNode * Add debug topics, launch file, and config file * Fix debug markers @@ -1041,33 +1041,33 @@ Changelog for package tier4_planning_launch * Update copyright notice: Tier IV -> TIER IV * Remove use_sim_time param from node launch file * Update launch files to run in the motion_planner + add launch config -* feat(motion_velocity_smoother): change osqp parameter (`#2157 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* feat(motion_velocity_smoother): change osqp parameter (`#2157 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 (`#2057 `_) -* feat(behavior_path_planner): params to expand drivable area in each module (`#1973 `_) -* feat(behavior_path_planner): add turn signal parameters (`#2086 `_) +* feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 (`#2057 `_) +* feat(behavior_path_planner): params to expand drivable area in each module (`#1973 `_) +* feat(behavior_path_planner): add turn signal parameters (`#2086 `_) * feat(behavior_path_planner): add and change parameters * update * update -* feat(behavior_path_planner): pull_over lateral goal search (`#2036 `_) +* feat(behavior_path_planner): pull_over lateral goal search (`#2036 `_) * feat(behavior_path_planner): pull_over lateral goal search * fix werror of humble -* feat(obstacle_cruise_planner): add an explanation (`#2034 `_) +* feat(obstacle_cruise_planner): add an explanation (`#2034 `_) * feat(obstacle_cruise_planner): add an explanation * update readme -* feat(run_out): avoid chattering of state transition (`#1975 `_) +* feat(run_out): avoid chattering of state transition (`#1975 `_) * feat: keep approach state to avoid chattering of detection * add parameter * update parameter * update documents * revert changed parameter -* feat(obstacle_cruise_planner): add goal safe distance (`#2031 `_) -* chore(behavior_velocity): add maintainer for run out module (`#1967 `_) -* refactor(run_out): add state machine class for state transition (`#1884 `_) +* feat(obstacle_cruise_planner): add goal safe distance (`#2031 `_) +* chore(behavior_velocity): add maintainer for run out module (`#1967 `_) +* refactor(run_out): add state machine class for state transition (`#1884 `_) * refactor(run_out): add state machine class for state transition * remove debug print * move parameters @@ -1076,7 +1076,7 @@ Changelog for package tier4_planning_launch * fix conflict * remove unused argument * fix parameter value -* feat(behavior_path_planner): add pull_over base class (`#1911 `_) +* feat(behavior_path_planner): add pull_over base class (`#1911 `_) * feat(behavior_path_planner): add pull_over base class * modify calculation of velocity abs * modify from review @@ -1089,9 +1089,9 @@ Changelog for package tier4_planning_launch * fix werror * fix build for main Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* chore(tier4_planning_launch): add maintainers (`#1955 `_) -* feat(intersection): use intersection_area if available (`#1733 `_) -* refactor: replace acc calculation in planning control modules (`#1213 `_) +* chore(tier4_planning_launch): add maintainers (`#1955 `_) +* feat(intersection): use intersection_area if available (`#1733 `_) +* refactor: replace acc calculation in planning control modules (`#1213 `_) * [obstacle_cruise_planner] replace acceleration calculation * [obstacle_stop_planner] replace acceleration calculation * [trajectory_follower] replace acceleration calculation @@ -1099,17 +1099,17 @@ Changelog for package tier4_planning_launch * fix nullptr check * fix controller test * fix -* fix: fix missing dependency (`#1891 `_) +* fix: fix missing dependency (`#1891 `_) * fix: fix missing dependency * fix -* feat(obstacle_avoidance_planner): fix can be applied to the first trajectory point (`#1775 `_) +* feat(obstacle_avoidance_planner): fix can be applied to the first trajectory point (`#1775 `_) * add bicycle model collision avoidance and single fixed point * refactor manual warm start * add calculation cost plotter * fix * fix * update params -* feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior (`#1541 `_) +* feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior (`#1541 `_) * feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior * ci(pre-commit): autofix * fix(rtc_auto_mode_manager): fix typo @@ -1124,19 +1124,19 @@ Changelog for package tier4_planning_launch * feat(rtc_auto_mode_manager): fix initialization Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat(behavior_planning): use acceleration from localization module (`#1859 `_) +* feat(behavior_planning): use acceleration from localization module (`#1859 `_) * feat(behavior_path_planner): subscribe acceleration from localization module * feat(behavior_velocity_planner): subscribe acceleration from localization module -* refactor(run_out): remove unused parameter (`#1836 `_) -* feat(obstacle_cruise_planner): add terminal collision checker (`#1807 `_) +* refactor(run_out): remove unused parameter (`#1836 `_) +* feat(obstacle_cruise_planner): add terminal collision checker (`#1807 `_) * feat(motion_utils): add new search zero velocity * change arguments * feat(obstacle_cruise_planner): add terminal collision checker * add parameters * change parameters -* feat(behavior_path_planner): change pull over params (`#1815 `_) -* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) - * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) +* feat(behavior_path_planner): change pull over params (`#1815 `_) +* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) + * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) function added, not turning fix the always positive curvature problem @@ -1180,14 +1180,14 @@ Changelog for package tier4_planning_launch * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over (`#1796 `_) +* feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over (`#1796 `_) * feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over * Update planning/behavior_path_planner/src/utilities.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> * rename to goal_to_obstacle_margin * fix rear check Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* refactor(obstacle_stop_planner): update params name for readability (`#1720 `_) +* refactor(obstacle_stop_planner): update params name for readability (`#1720 `_) * refactor(obstacle_stop_planner): update parameter name for readability * docs(obstacle_stop_planner): update module documentation * docs(obstacle_stop_planner): update figure @@ -1195,8 +1195,8 @@ Changelog for package tier4_planning_launch * fix(tier4_planning_launch): separate params by namespace * refactor(obstacle_stop_planner): remove default value from declare_parameter * refactor(obstacle_stop_planner): add params to config -* fix(behavior_path_planner): fix pull_over request_length and maximum_deceleration (`#1789 `_) -* feat(behavior_path_planner): use object recognition for pull_over (`#1777 `_) +* fix(behavior_path_planner): fix pull_over request_length and maximum_deceleration (`#1789 `_) +* feat(behavior_path_planner): use object recognition for pull_over (`#1777 `_) * feat(behavior_path_planner): use object recognition for pull_over * Update planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> @@ -1205,7 +1205,7 @@ Changelog for package tier4_planning_launch * remove unnecessary lines * update warn message Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* feat(behavior_path_planner): update pull out (`#1438 `_) +* feat(behavior_path_planner): update pull out (`#1438 `_) * feat(behavior_path_planner): update pull out * refactor(behavior_path_planner): rename pull_out params * update from review @@ -1215,10 +1215,10 @@ Changelog for package tier4_planning_launch * fix debug marker * add seach priority * change before_pull_out_straight_distance to 0.0 -* refactor(behavior_path_planner): rename pull_over params (`#1747 `_) -* feat(intersection): continue detection after pass judge (`#1719 `_) -* feat(behavior_path_palnner): update geometric parallel parking for pull_out module (`#1534 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* refactor(behavior_path_planner): rename pull_over params (`#1747 `_) +* feat(intersection): continue detection after pass judge (`#1719 `_) +* feat(behavior_path_palnner): update geometric parallel parking for pull_out module (`#1534 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -1251,9 +1251,9 @@ Changelog for package tier4_planning_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(behavior_path_planner): enable pull_over backward_parking by default (`#1653 `_) -* feat(obstacle_avoidance_planne): enable plan_from_ego by default (`#1673 `_) -* feat: add vector map inside area filter (`#1530 `_) +* feat(behavior_path_planner): enable pull_over backward_parking by default (`#1653 `_) +* feat(obstacle_avoidance_planne): enable plan_from_ego by default (`#1673 `_) +* feat: add vector map inside area filter (`#1530 `_) * feat: add no detection area filter * ci(pre-commit): autofix * chore: add documents @@ -1277,10 +1277,10 @@ Changelog for package tier4_planning_launch * chore: using namespace of PolygonCgal for readability * feat: add functions for multiple polygons Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(mission_planner): prepare to support ad api (`#1561 `_) +* refactor(mission_planner): prepare to support ad api (`#1561 `_) * refactor(mission_planner): prepare to support ad api * fix node name -* feat(surround_obstacle_checker): add vehicle footprint with offset (`#1577 `_) +* feat(surround_obstacle_checker): add vehicle footprint with offset (`#1577 `_) * fix: right and left overhang fix in SelfPolygon func * feat: init base polygon * ci(pre-commit): autofix @@ -1291,32 +1291,32 @@ Changelog for package tier4_planning_launch * feat: add footprint publish boolean param to config * docs: update readme Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): resample output path (`#1604 `_) +* feat(behavior_path_planner): resample output path (`#1604 `_) * feat(behavior_path_planner): resample output path * update param -* fix(behavior_velocity_planner): disable debug path publisher by default (`#1680 `_) -* fix(behavior_path_planner): pull_over shift parking (`#1652 `_) +* fix(behavior_velocity_planner): disable debug path publisher by default (`#1680 `_) +* fix(behavior_path_planner): pull_over shift parking (`#1652 `_) * fix(behavior_path_planner): pull_over shift parking * check lane_depature for each shift path * change pull_over_velocity to 3.0 -* feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle (`#1646 `_) +* feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle (`#1646 `_) * feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle * add parameter to config * update readme -* feat(behavior_velocity): publish internal debug path (`#1635 `_) +* feat(behavior_velocity): publish internal debug path (`#1635 `_) * feat(behavior_velocity): publish internal path as debug path * feat(behavior_velocity): add debug internal scene module path * feat(behavior_velcoity, planning_debug_tools): add params for debug path -* feat(run_out): add lateral nearest points filter (`#1527 `_) +* feat(run_out): add lateral nearest points filter (`#1527 `_) * feat(run_out): add lateral nearest points filter * chore: update documents * chore: pre-commit fix * chore: fix typo -* fix(tier4_planning_launch): change parameter to enable abort lane change (`#1602 `_) -* feat(tier4_planning_launch): add nearest search param (`#1582 `_) +* fix(tier4_planning_launch): change parameter to enable abort lane change (`#1602 `_) +* feat(tier4_planning_launch): add nearest search param (`#1582 `_) * feat(tier4_planning_launch): add nearest search param * fix -* feat(obstacle_cruise_planner): delete shape from target obstacle (`#1558 `_) +* feat(obstacle_cruise_planner): delete shape from target obstacle (`#1558 `_) * delete is on ego traj * update * feat(obstacle_cruise_planner): delete shape @@ -1328,24 +1328,24 @@ Changelog for package tier4_planning_launch * fix terminal point * update * update parameters -* fix(behavior_velocity_planner, tier4_planning_launch): modify delay_resopnse_time (`#1557 `_) +* fix(behavior_velocity_planner, tier4_planning_launch): modify delay_resopnse_time (`#1557 `_) * fix(behavior_velocity_planner): modify delay_resopnse_time * fix(tier4_planning_launch): modify delay_resopnse_time -* fix(costmap_generator): restrict costmap within parking lot (`#996 `_) +* fix(costmap_generator): restrict costmap within parking lot (`#996 `_) * fix(costmap_generator): restrict costmap within parking lot * add parameters for free space planning area selection * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(obstacle_cruise_planner): add missing param (`#1515 `_) -* fix(behavior_path_planner): fix turn singal output in a avoidance sequence (`#1511 `_) +* fix(obstacle_cruise_planner): add missing param (`#1515 `_) +* fix(behavior_path_planner): fix turn singal output in a avoidance sequence (`#1511 `_) * remove search distance for turn signal * set distance to max when a lane_attriute is straight -* refactor(obstacle_avoidance_planner): use max_steer_angle in common (`#1423 `_) +* refactor(obstacle_avoidance_planner): use max_steer_angle in common (`#1423 `_) * refactor(obstacle_avoidance_planner): use max_steer_angle in common * fix runtime error * fix * fix yaml file -* feat(behavior_velocitiy_planner): predict front vehicle deceleration in intersection and temporarily stop (`#1194 `_) +* feat(behavior_velocitiy_planner): predict front vehicle deceleration in intersection and temporarily stop (`#1194 `_) * calculating stopping distance for frontcar from estimated velocity * calc stopping_point_projected and stopping_point along centerline * create stuck_vehicle_detect_area in modifyVelocity(TODO: use pose of frontcar at stopping_position @@ -1360,21 +1360,21 @@ Changelog for package tier4_planning_launch * fixed the order of isAheadOf, working in scenario test as well * added description in stuck vehicle detection section * reflected comments: (1) use vector of ids (2) changed intersection.param.yaml -* feat(tier4_planning_launch): declare param path argument (`#1337 `_) +* feat(tier4_planning_launch): declare param path argument (`#1337 `_) * feat(tier4_planning_launch): declare param path argument * Update launch/tier4_planning_launch/launch/planning.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update launch/tier4_planning_launch/launch/planning.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* fix(behavior_path_planner): remove unnecessary publisher and subscriber (`#1371 `_) +* fix(behavior_path_planner): remove unnecessary publisher and subscriber (`#1371 `_) * fix(behavior_path_planner): remove unnecessary publisher and subscriber * fix(tier4_planning_launch): fix launch file * fix(tier4_planning_launch): fix xml file -* fix: fix parameter names of motion_velocity_smoother (`#1376 `_) +* fix: fix parameter names of motion_velocity_smoother (`#1376 `_) * fix: fix parameter names of motion_velocity_smoother * fix indent -* feat(intersection_module): add option to change the stopline position (`#1364 `_) +* feat(intersection_module): add option to change the stopline position (`#1364 `_) * use constexpr * add stopline before intersection * feat(intersection_module): add update stopline index before intersection @@ -1385,19 +1385,19 @@ Changelog for package tier4_planning_launch * reduce nest * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning_launch): add group tag (`#1239 `_) +* fix(tier4_planning_launch): add group tag (`#1239 `_) * fix(tier4_planning_launch): add group tag * move arg * move arg inside group -* fix(behavior_velocity_planner): fix rtc behavior in crosswalk module (`#1296 `_) -* feat(behavior_path_planner): update pull_over module (`#873 `_) +* fix(behavior_velocity_planner): fix rtc behavior in crosswalk module (`#1296 `_) +* feat(behavior_path_planner): update pull_over module (`#873 `_) * feat(behavior_path_planner): update pull_over module * use tf2_geometry_msgs/tf2_geometry_msgs.hpp for humble * fix werror of humble * fix test * fix goal change bug when starting drive -* feat(tier4_planning_launch): update crosswalk param (`#1265 `_) -* feat(behavior_velocity): filter points with detection area (`#1073 `_) +* feat(tier4_planning_launch): update crosswalk param (`#1265 `_) +* feat(behavior_velocity): filter points with detection area (`#1073 `_) * feat(behavior_velocity): filter points with detection area * remove unnecessary functions * update documents @@ -1407,10 +1407,10 @@ Changelog for package tier4_planning_launch * update configs * return empty points when the detection area polygon is empty Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length (`#1223 `_) +* chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length (`#1223 `_) * chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length * fix typo -* feat(obstacle_cruise_planner): implemented common obstacle stop (`#1185 `_) +* feat(obstacle_cruise_planner): implemented common obstacle stop (`#1185 `_) * feat(obstacle_cruise_planner): implemented common obstacle stop * fix some implementation * minor changes @@ -1418,11 +1418,11 @@ Changelog for package tier4_planning_launch * remove unnecessary code * fix CI error * fix typo -* refactor(freespace_planner): parameterize margin. (`#1190 `_) -* fix(intersection_module): remove decel parameter (`#1188 `_) +* refactor(freespace_planner): parameterize margin. (`#1190 `_) +* fix(intersection_module): remove decel parameter (`#1188 `_) * fix(intersection_module): remove decel parameter * remove unuse parameter -* feat(obstacle_cruise_planner): some minor updates (`#1136 `_) +* feat(obstacle_cruise_planner): some minor updates (`#1136 `_) * checkout latest obstacle cruise changes * fix cruise/stop chattering * add lpf for cruise wall @@ -1433,7 +1433,7 @@ Changelog for package tier4_planning_launch * update tier4_planning_launch param * fix typo * fix CI error -* feat(obstacle_cruise_planner): clean parameters for optimization based cruise planner (`#1059 `_) +* feat(obstacle_cruise_planner): clean parameters for optimization based cruise planner (`#1059 `_) * remove unnecessary parameter * add new parameter and delete unnecessary constructor * remove unnecessary parameter @@ -1443,7 +1443,7 @@ Changelog for package tier4_planning_launch * delete yaw threshold parameter and update license * update * remove unnecessary checker -* feat(intersection): add conflicting area with margin debug (`#1021 `_) +* feat(intersection): add conflicting area with margin debug (`#1021 `_) * add detection area margin debug * extention lanelet in intersection function * feat: add conflicting area with margin @@ -1459,11 +1459,11 @@ Changelog for package tier4_planning_launch * refactor: lanelet::utils::resamplePoints -> resamplePoints * feat: add right and left margin parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_planning_launch): launch rtc_auto_approver (`#1046 `_) +* feat(tier4_planning_launch): launch rtc_auto_approver (`#1046 `_) * feature(tier4_planning_launch): launch rtc_auto_approver * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(obstacle_cruise_planner): add new package (`#570 `_) +* feat(obstacle_cruise_planner): add new package (`#570 `_) * feat(obstacle_velocity_planner): add obstacle_velocity_planner * udpate yaml * update dependency @@ -1483,23 +1483,23 @@ Changelog for package tier4_planning_launch * rename to obstacle_cruise_planner * fix tier4_planning_launch * fix humble CI -* feat(behavior_velocity): add run out module (`#752 `_) - * fix(behavior_velocity): calculate detection area from the nearest point from ego (`#730 `_) +* feat(behavior_velocity): add run out module (`#752 `_) + * fix(behavior_velocity): calculate detection area from the nearest point from ego (`#730 `_) * fix(behavior_velocity): calculate lateral distance from the beginning of the path * add argument of min_velocity * use veloicty from the nearest point from ego * pass struct by reference * fix to interpolate point in util - * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) + * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) * fix(longitudinal_controller_node): parameterize stopped state entry condition * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE * fix(vehicle_cmd_gate): check time duration since the vehicle stopped - * docs(autoware_testing): fix link (`#741 `_) + * docs(autoware_testing): fix link (`#741 `_) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * fix: trajectory visualizer (`#745 `_) - * fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) + * fix: trajectory visualizer (`#745 `_) + * fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) * fix(tier4_autoware_utils): modify build error in rolling * fix(lanelet2_extension): add target compile definition for geometry2 * fix(ekf_localizer): add target compile definition for geometry2 @@ -1537,7 +1537,7 @@ Changelog for package tier4_planning_launch * fix(planning_error_monitor): add target compile definition for geometry2 * fix(planning_evaluator): add target compile definition for geometry2 * fix(lidar_centerpoint): add target compile definition for geometry2 - * fix(behavior_velocity): handle the case when finding index failed (`#746 `_) + * fix(behavior_velocity): handle the case when finding index failed (`#746 `_) * feat: add scene module of dynamic obstacle stop * fix warnings * add temporary debug value @@ -1644,14 +1644,14 @@ Changelog for package tier4_planning_launch Co-authored-by: Yukihiro Saito Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara -* feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) +* feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) +* feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -1661,8 +1661,8 @@ Changelog for package tier4_planning_launch * update config * remove unnecessary files * update tier4_planning_launch params -* feat(behavior_velocity): find occlusion more efficiently (`#829 `_) -* feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) +* feat(behavior_velocity): find occlusion more efficiently (`#829 `_) +* feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -1672,26 +1672,26 @@ Changelog for package tier4_planning_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat(obstacle_avoidance_planner): parameterize bounds search widths (`#807 `_) +* style: fix format of package.xml (`#844 `_) +* feat(obstacle_avoidance_planner): parameterize bounds search widths (`#807 `_) * feat(obstacle_avoidance_planner): parameterize bounds search widths * update bounds search widths * update tier4_planning_launch * Added parameter description of README.md -* chore(behavior_velocity): add system delay parameter and minor update (`#764 `_) +* chore(behavior_velocity): add system delay parameter and minor update (`#764 `_) * chore(behavior_velocity): add system delay parameter and minor update * doc(behavior_velocity): add system delay discription -* fix(motion_velocity_smoother): add stop decel parameter (`#739 `_) +* fix(motion_velocity_smoother): add stop decel parameter (`#739 `_) * add stop decel parameter * add stop decel parameter -* feat(behavior_velocity): occlusion spot generate not detection area occupancy grid (`#620 `_) +* feat(behavior_velocity): occlusion spot generate not detection area occupancy grid (`#620 `_) * feat(behavior_velocity): filter dynamic object by default * feat(behavior_velocity): raycast object shadow * chore(behavior_velocity): replace target vehicle to filtered vehicle in detection area @@ -1701,22 +1701,22 @@ Changelog for package tier4_planning_launch * fix(behavior_velocity): fix launch and stuck vehicle * chore(behavior_velocity): use experiment value * chore(behavior_velocity): add comment -* fix(tier4_planning_launch): fix tier4_planning_launch package (`#660 `_) -* feat(behavior_path_planner): stop lane_driving planners in non-lane-driving scenario (`#668 `_) +* fix(tier4_planning_launch): fix tier4_planning_launch package (`#660 `_) +* feat(behavior_path_planner): stop lane_driving planners in non-lane-driving scenario (`#668 `_) * stop lanedriving in parking scenario * use skip_first * add scenario remap in launch * replace warn to info -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): parametrize avoidance target type (`#574 `_) +* feat(behavior_path_planner): parametrize avoidance target type (`#574 `_) * parametrize avoidance target type * add target type parameter in yaml * mototbike -> motorcycle * apply clang -* feat(obstacle avoidance planner): fix out curve, make calculation cost low, make optimization stable, refactor, etc. (`#233 `_) +* feat(obstacle avoidance planner): fix out curve, make calculation cost low, make optimization stable, refactor, etc. (`#233 `_) * feat (obstacle avoidance planner) fix out curve, make optimization stable, make computation cost low, etc * fix typos * remove unnecessary codes @@ -1729,12 +1729,12 @@ Changelog for package tier4_planning_launch * truncate path to detect path change, and tune path change detection * disable yaw slerp * fix ci error -* fix(behavior_path_planner): parametrize avoidance lateral distance threshold (`#404 `_) +* fix(behavior_path_planner): parametrize avoidance lateral distance threshold (`#404 `_) * parametrize lateral threshold * format readme * apply clang format -* refactor(scenario_planning.launch.xml): add parameter description (`#464 `_) -* feat(behavior_path_planner): make drivable area coordinate fixed to the map coordinate and make its size dynamic (`#360 `_) +* refactor(scenario_planning.launch.xml): add parameter description (`#464 `_) +* feat(behavior_path_planner): make drivable area coordinate fixed to the map coordinate and make its size dynamic (`#360 `_) * make drivable area not to oscillate and its size dynamic * update README for new parameters * remove getLaneletScope from route_handler @@ -1743,7 +1743,7 @@ Changelog for package tier4_planning_launch * rename function and put it in proper namespace * update param for tier4_planning_launch Co-authored-by: Takamasa Horibe -* feat(behavior_path_planner): better avoidance drivable areas extension in behavior path planning (`#287 `_) +* feat(behavior_path_planner): better avoidance drivable areas extension in behavior path planning (`#287 `_) * feat: Increases the flexibility of the function in dealing with several scenarios The implementation updates generateExtendedDrivableArea this is a part of .iv PR (`tier4/autoware.iv#2383 `_) port @@ -1770,8 +1770,8 @@ Changelog for package tier4_planning_launch The decision to increase is based on discussion with the planning control team and also from input by FI team. Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* fix: use autoware_auto_msgs (`#197 `_) -* feat: change launch package name (`#186 `_) +* fix: use autoware_auto_msgs (`#197 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst index 0f24629434ca1..be5bb4dd8fce6 100644 --- a/launch/tier4_sensing_launch/CHANGELOG.rst +++ b/launch/tier4_sensing_launch/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package tier4_sensing_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -44,7 +44,7 @@ Changelog for package tier4_sensing_launch 0.26.0 (2024-04-03) ------------------- -* feat: remove use_pointcloud_container (`#6115 `_) +* feat: remove use_pointcloud_container (`#6115 `_) * feat!: remove use_pointcloud_container * fix pre-commit * fix: completely remove use_pointcloud_container after merge main @@ -52,7 +52,7 @@ Changelog for package tier4_sensing_launch * revert: revert change in probabilistic_occupancy_grid_map * revert change in launcher of ogm --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -60,7 +60,7 @@ Changelog for package tier4_sensing_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) +* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) * sync launch file from tier4 autoware launch * sync tlr launcher * ci(pre-commit): autofix @@ -70,29 +70,29 @@ Changelog for package tier4_sensing_launch * fix exec_depend in package.xml * Sync traffic light node Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove bad chars (`#845 `_) -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: delete common_sensor_launch from exec_depend (`#626 `_) -* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) +* fix: delete common_sensor_launch from exec_depend (`#626 `_) +* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) * feat(tier4_autoware_launch)!: move package to autoware_launch * remove unnecessary depends -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst index ddb251df83667..14927284d98a7 100644 --- a/launch/tier4_simulator_launch/CHANGELOG.rst +++ b/launch/tier4_simulator_launch/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package tier4_simulator_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(simple_planning_simulator): add stop_filter_param_path (`#9127 `_) -* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) +* chore(simple_planning_simulator): add stop_filter_param_path (`#9127 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) * add autoware\_ prefix * fix link --------- Co-authored-by: SakodaShintaro -* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) -* feat(psim)!: change a setting parameter type from bool to string (`#8331 `_) +* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) +* feat(psim)!: change a setting parameter type from bool to string (`#8331 `_) * change a param type, bool to string * add param description, add null tag group for the null option --------- -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. style(pre-commit): autofix -* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) +* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) * feat(simple_planning_simulator): add actuation command simulator tmp add @@ -43,7 +43,7 @@ Changelog for package tier4_simulator_launch * fix typo --------- Co-authored-by: Takamasa Horibe -* feat(processing_time_checker): add a new package (`#7957 `_) +* feat(processing_time_checker): add a new package (`#7957 `_) * feat(processing_time_checker): add a new package * fix * fix @@ -52,22 +52,22 @@ Changelog for package tier4_simulator_launch * fix * fix --------- -* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) +* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) * feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger * feat: add use_multi_channel_tracker_merger argument to simulator launch This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator. --------- -* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) -* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) +* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) +* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) * Contributors: Kosuke Takeuchi, Masaki Baba, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* fix(pose_initializer): added "user_defined_initial_pose" to dummy localization (`#6723 `_) +* fix(pose_initializer): added "user_defined_initial_pose" to dummy localization (`#6723 `_) Added "used_defined_initial_pose" to dummy localization -* feat(default_ad_api): add door api (`#5737 `_) -* feat(tier4_simulator_launch): add option to disable all perception related modules (`#6382 `_) -* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) +* feat(default_ad_api): add door api (`#5737 `_) +* feat(tier4_simulator_launch): add option to disable all perception related modules (`#6382 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) * feat(perception_evaluator): add perception_evaluator tmp update @@ -85,9 +85,9 @@ Changelog for package tier4_simulator_launch * feat: add test * fix: ci check --------- -* fix(tier4_simulator_launch): add lacked param path (`#5326 `_) -* chore(tier4_simulator_launch): launch camera and V2X fusion module in simple planning simulator (`#4522 `_) -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* fix(tier4_simulator_launch): add lacked param path (`#5326 `_) +* chore(tier4_simulator_launch): launch camera and V2X fusion module in simple planning simulator (`#4522 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -112,8 +112,8 @@ Changelog for package tier4_simulator_launch * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(occpuancy grid map): move param to yaml (`#4038 `_) -* build: mark autoware_cmake as (`#3616 `_) +* refactor(occpuancy grid map): move param to yaml (`#4038 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -121,34 +121,34 @@ Changelog for package tier4_simulator_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) -* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) +* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) +* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) * add occcupancy_grid_map method/param var to launcher * added CODEOWNER * Revert "added CODEOWNER" This reverts commit 2213c2956af19580d0a7788680aab321675aab3b. * add maintainer --------- -* fix(tier4_simulator_launch): fix launch package name (`#3340 `_) -* feat(tier4_simulator_launch): convert /diagnostics_err (`#3152 `_) -* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) +* fix(tier4_simulator_launch): fix launch package name (`#3340 `_) +* feat(tier4_simulator_launch): convert /diagnostics_err (`#3152 `_) +* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) * fixed psim occupancy grid map problem * fix parameter designation --------- Co-authored-by: Takayuki Murooka -* chore(tier4_simulator_launch): add code owner (`#3080 `_) +* chore(tier4_simulator_launch): add code owner (`#3080 `_) chore(tier4_simulator_launch): add code owners -* fix(tier4_perception_launch): fix config path (`#3078 `_) +* fix(tier4_perception_launch): fix config path (`#3078 `_) * fix(tier4_perception_launch): fix config path * use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_launch --------- -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) * add original diagnostic_convertor * add test * fix typo @@ -198,7 +198,7 @@ Changelog for package tier4_simulator_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) +* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) * Support GNSS/IMU pose estimator * style(pre-commit): autofix * Revert gnss/imu support @@ -226,18 +226,18 @@ Changelog for package tier4_simulator_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohei Sasaki Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_simulator_launch): remove configs and move to autoware_launch (`#2541 `_) +* feat(tier4_simulator_launch): remove configs and move to autoware_launch (`#2541 `_) * feat(tier4_perception_launch): remove configs and move to autoware_launch * update readme * first commit * remove config -* fix(tier4_simulator_launch): fix path (`#2281 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* fix(tier4_simulator_launch): fix path (`#2281 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pose_initializer)!: support ad api (`#1500 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -253,23 +253,23 @@ Changelog for package tier4_simulator_launch * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch (`#1820 `_) +* feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch (`#1820 `_) * feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(tier4_simulator_launch): declare param path argument (`#1443 `_) +* feat(tier4_simulator_launch): declare param path argument (`#1443 `_) feat(tier4_simulator_launch): declare param path -* feat!: replace ogm at scenario simulation (`#1062 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat!: replace ogm at scenario simulation (`#1062 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) +* style: fix format of package.xml (`#844 `_) +* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) * initial commit * ci(pre-commit): autofix * change param @@ -285,19 +285,19 @@ Changelog for package tier4_simulator_launch * add single frame mode * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: move empty_objects_publisher (`#613 `_) +* feat: move empty_objects_publisher (`#613 `_) * feat: move empty_objects_publisher * fix group of empty_object_publisher -* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) +* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) * feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simualtor.launch.xml * remove perception launching dummy_perception_publisher.launch.xml * remove unnecessary comment -* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) -* feat: change launch package name (`#186 `_) +* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 7be992e2e4764..e1226ee63f5e2 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -20,7 +20,7 @@ description="Select localization mode. Options are 'none', 'api' or 'pose_twist_estimator'. 'pose_twist_estimator' starts most of the localization modules except for the ndt_scan_matcher. 'api' starts an external API for initial position estimation. 'none' does not start any localization-related process." /> - + @@ -203,10 +203,10 @@ - - - - + + + + diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst index 6472a862209cf..d42dea8eb7b24 100644 --- a/launch/tier4_system_launch/CHANGELOG.rst +++ b/launch/tier4_system_launch/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package tier4_system_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(system): fixed to use autoware_component_interface_tools (`#9133 `_) +* fix(system): fixed to use autoware_component_interface_tools (`#9133 `_) Fixed component_interface_tools -* feat(system_error_monitor): remove system error monitor (`#8929 `_) +* feat(system_error_monitor): remove system error monitor (`#8929 `_) * feat: delete-system-error-monitor-from-autoware * feat: remove unnecessary params --------- -* feat(emergency_handler): delete package (`#8917 `_) +* feat(emergency_handler): delete package (`#8917 `_) * feat(emergency_handler): delete package -* feat(processing_time_checker): add a new package (`#7957 `_) +* feat(processing_time_checker): add a new package (`#7957 `_) * feat(processing_time_checker): add a new package * fix * fix @@ -22,19 +22,19 @@ Changelog for package tier4_system_launch * fix * fix --------- -* feat(tier4_system_launch): use mrm handler by default (`#7728 `_) -* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) -* feat(default_ad_api): use diagnostic graph (`#7043 `_) +* feat(tier4_system_launch): use mrm handler by default (`#7728 `_) +* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) +* feat(default_ad_api): use diagnostic graph (`#7043 `_) * Contributors: Ryuta Kambe, SakodaShintaro, Takagi, Isamu, Takayuki Murooka, TetsuKawa, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore(tier4_system_launch): add option to select graph path depending on running mode (`#6700 `_) +* chore(tier4_system_launch): add option to select graph path depending on running mode (`#6700 `_) chore(tier4_system_launch): add option of using graph path for simulation -* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) -* chore: update maintainer (`#5730 `_) +* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) +* chore: update maintainer (`#5730 `_) update maintainer -* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) +* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) * add implementation for duplicated node checking * update the default parameters of system_error_monitor to include results from duplication check * style(pre-commit): autofix @@ -51,9 +51,9 @@ Changelog for package tier4_system_launch Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -61,13 +61,13 @@ Changelog for package tier4_system_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) +* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) * Signed-off-by: asana17 modified dummy_diag_publisher to use YAML for param * Signed-off-by: asana17 @@ -78,7 +78,7 @@ Changelog for package tier4_system_launch * add pkg maintainer * launch dummy_diag_publisher by launch_dummy_diag_publisher param --------- -* feat(tier4_system_launch): remove configs and move to autoware_launch (`#2540 `_) +* feat(tier4_system_launch): remove configs and move to autoware_launch (`#2540 `_) * feat(tier4_system_launch): remove configs and move to autoware_launch * update readme * fix readme @@ -87,18 +87,18 @@ Changelog for package tier4_system_launch * fix readme * fix mistake * fix typo -* feat(component_interface_tools): add service log checker (`#2503 `_) +* feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics * feat: update system error monitor config -* feat: replace python launch with xml launch for system monitor (`#2430 `_) +* feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(system_monitor): add maintainer (`#2420 `_) -* feat!: replace HADMap with Lanelet (`#2356 `_) +* chore(system_monitor): add maintainer (`#2420 `_) +* feat!: replace HADMap with Lanelet (`#2356 `_) * feat!: replace HADMap with Lanelet * update topic.yaml * Update perception/traffic_light_map_based_detector/README.md @@ -111,13 +111,13 @@ Changelog for package tier4_system_launch Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * format readme Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove os import * fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ad_service_state_monitor)!: remove ad_service_state_monitor (`#2311 `_) +* feat(ad_service_state_monitor)!: remove ad_service_state_monitor (`#2311 `_) * feat(autoware_ad_api_msgs): define operation mode interface * feat(default_ad_api): add operation mode api * fix: add message @@ -158,8 +158,8 @@ Changelog for package tier4_system_launch * feat: remove sensing alive monitoring Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): add parameter to launch system_monitor and fix hdd_monitor (`#2285 `_) -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* fix(system_monitor): add parameter to launch system_monitor and fix hdd_monitor (`#2285 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers @@ -221,18 +221,18 @@ Changelog for package tier4_system_launch * fix(emergency_handler): fix acronyms case * chore(tier4_system_launch): add a mrm comfortable stop parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_system_launch): remove unused system file (`#2263 `_) +* chore(tier4_system_launch): remove unused system file (`#2263 `_) * chore(tier4_system_launch): remove unused system file * remove unnecessary code -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(component_state_monitor): add component state monitor (`#2120 `_) +* feat(component_state_monitor): add component state monitor (`#2120 `_) * feat(component_state_monitor): add component state monitor * feat: change module -* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) +* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) * adding document for voltage monitor * ci(pre-commit): autofix * fixed for the issue of multithread @@ -252,36 +252,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -292,7 +292,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -302,50 +302,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -366,36 +366,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -406,7 +406,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -416,50 +416,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -469,11 +469,11 @@ Changelog for package tier4_system_launch * merge main ->feature_battery_monitoring * Added voltages are provisional values. * ci(pre-commit): autofix - * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) + * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) * feat(behavior_path_planner): add and change parameters * update * update - * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) + * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) * refactor(perception_util): refactor matching function in perception_util * fix namespace * refactor @@ -481,7 +481,7 @@ Changelog for package tier4_system_launch * fix bug * add const * refactor function name - * refactor(perception_utils): refactor object_classification (`#2042 `_) + * refactor(perception_utils): refactor object_classification (`#2042 `_) * refactor(perception_utils): refactor object_classification * fix bug * fix unittest @@ -489,14 +489,14 @@ Changelog for package tier4_system_launch * fix unit test * remove redundant else * refactor variable name - * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) - * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) - * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) + * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) + * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) * refactor(osqp_interface, motion_velocity_smoother): unsolved status log * Update common/osqp_interface/src/osqp_interface.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) + * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) Co-authored-by: Yusuke Muramatsu * change name hardware_monitor -> voltage_monitor * copy right 2020 -> 2022 @@ -521,36 +521,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -561,7 +561,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -571,50 +571,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -632,36 +632,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -672,7 +672,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -682,50 +682,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -768,7 +768,7 @@ Changelog for package tier4_system_launch Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Yusuke Muramatsu -* feat: add HDD monitoring items to hdd_monitor (`#721 `_) +* feat: add HDD monitoring items to hdd_monitor (`#721 `_) * feat: add HDD monitoring items to hdd_monitor * fix pre-commit C long type error * fixed the monitoring method of RecoveredError @@ -779,8 +779,8 @@ Changelog for package tier4_system_launch * fix(system_monitor): level change when not connected in HDD connection monitoring * fix(system_monitor): unmount function added in hdd_reader * fix(system_monitor): separate S.M.A.R.T. request and lazy unmount request for hdd_reader -* chore(system_error_monitor): add maintainer (`#1922 `_) -* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) +* chore(system_error_monitor): add maintainer (`#1922 `_) +* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) * feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor * fix build errors caused by merge mistakes * fix(system_monitor): chang word Reasm and fix deep nesting @@ -790,7 +790,7 @@ Changelog for package tier4_system_launch * fix(system_monitor): remove unnecessary static_cast * fix(system_monitor): typo fix Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat(pose_initializer)!: support ad api (`#1500 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -806,33 +806,33 @@ Changelog for package tier4_system_launch * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) +* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat: add CRC error monitoring to net_monitor (`#638 `_) +* feat: add CRC error monitoring to net_monitor (`#638 `_) * feat: add CRC error monitoring to net_monitor * add CRC error monitoring information to README.md * ci(pre-commit): autofix Co-authored-by: noriyuki.h Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_system_launch): declare tier4_system_launch_param_path (`#1411 `_) -* fix(tier4_system_launch): add group tag (`#1240 `_) +* feat(tier4_system_launch): declare tier4_system_launch_param_path (`#1411 `_) +* fix(tier4_system_launch): add group tag (`#1240 `_) * fix(tier4_system_launch): add group tag * move arg into group -* fix(system_monitor): add some smart information to diagnostics (`#708 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* fix(system_monitor): add some smart information to diagnostics (`#708 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst index 3b5e4843e1f86..dfd9f0759abfc 100644 --- a/launch/tier4_vehicle_launch/CHANGELOG.rst +++ b/launch/tier4_vehicle_launch/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package tier4_vehicle_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) +* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) * add prefix * fix other packages * fix cppcheck @@ -16,8 +16,8 @@ Changelog for package tier4_vehicle_launch 0.26.0 (2024-04-03) ------------------- -* fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files (`#6136 `_) -* build: mark autoware_cmake as (`#3616 `_) +* fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files (`#6136 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -25,40 +25,40 @@ Changelog for package tier4_vehicle_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: fix xacro command in vehicle.launch (`#2171 `_) -* feat(tier4_vehicle launch): switch config_dir value for default/individual_param (`#1416 `_) +* fix: fix xacro command in vehicle.launch (`#2171 `_) +* feat(tier4_vehicle launch): switch config_dir value for default/individual_param (`#1416 `_) * feat(tier4_vehicle_launch): migrate from autoware_launch::vehicle_launch to tier4_vehicle_launch * By default config_dir is _description/config/ (like in planning_simulation) in tier4_vehicle_launch, and in product release config_dir will be set to /config//, and its value is set from either planning_simulator.launch orautoware_launch -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* chore: sync files (`#629 `_) +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) -* fix(tier4_vehicle_launch): refer to launch packages to find vehicle_interface.launch.xml (`#439 `_) -* fix(tier4_vehicle_launch): remove unnecessary config_dir (`#436 `_) +* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) +* fix(tier4_vehicle_launch): refer to launch packages to find vehicle_interface.launch.xml (`#439 `_) +* fix(tier4_vehicle_launch): remove unnecessary config_dir (`#436 `_) * fix(tier4_vehicle_launch): remove unnecessary config_dir * refactor: rename arg * remove vehicle_description.launch.xml to simplify the structure * chore: simplify vehicle.xacro -* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) +* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) * feat(tier4_autoware_launch)!: move package to autoware_launch * remove unnecessary depends -* docs: fix invalid links (`#309 `_) -* feat: change launch package name (`#186 `_) +* docs: fix invalid links (`#309 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/localization/autoware_ekf_localizer/CHANGELOG.rst b/localization/autoware_ekf_localizer/CHANGELOG.rst index 35fce4f96ef08..bce88cb58f6c5 100644 --- a/localization/autoware_ekf_localizer/CHANGELOG.rst +++ b/localization/autoware_ekf_localizer/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_ekf_localizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) +* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) * import lanelet2_map_preprocessor * move headers to include/autoware/efk_localier --------- diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst index 1925737c6a571..41729bbef184c 100644 --- a/localization/autoware_geo_pose_projector/CHANGELOG.rst +++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_geo_pose_projector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- -* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) +* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) * add autoware\_ prefix * style(pre-commit): autofix --------- diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst index 59a7f6c5d5090..b2a293af33018 100644 --- a/localization/autoware_gyro_odometer/CHANGELOG.rst +++ b/localization/autoware_gyro_odometer/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_gyro_odometer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) +* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) * add autoware\_ prefix * add missing header * use target_include_directories instead diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst index e24342415d923..d74b537c50fdd 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package autoware_ar_tag_based_localizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* fix(doc): landmark localizer (`#8301 `_) +* fix(doc): landmark localizer (`#8301 `_) fix landmark localizer -* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) +* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yamato Ando -* perf(autoware_ar_tag_based_localizer): remove unnecessary pub/sub depth for transient_local (`#8259 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* chore: update sample rosbags for localization modules (`#7716 `_) +* perf(autoware_ar_tag_based_localizer): remove unnecessary pub/sub depth for transient_local (`#8259 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* chore: update sample rosbags for localization modules (`#7716 `_) Update sample rosbags for new message types -* fix: replace deprecated header in Jazzy (`#7603 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) * Added prefix "autoware\_" to ar_tag_based_localizer * style(pre-commit): autofix * Fixed localization_launch diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst index 241a307ea8e98..1c08781d5e233 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_landmark_manager 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) +* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yamato Ando -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) * Added prefix "autoware\_" to ar_tag_based_localizer * style(pre-commit): autofix * Fixed localization_launch diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst index 3bbcf463b2a7d..4d154f8e365f9 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_lidar_marker_localizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* feat(localization): add `lidar_marker_localizer` (`#5573 `_) +* feat(localization): add `lidar_marker_localizer` (`#5573 `_) * Added lidar_marker_localizer * style(pre-commit): autofix * fix launch file diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst index 6c293809b481f..d24c1d7ac4bce 100644 --- a/localization/autoware_localization_error_monitor/CHANGELOG.rst +++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_localization_error_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) +* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) * fix(localization_error_monitor): fix to use diagnostics_module in localization_util * fix: update media * fix: update component name * fix: rename include file --------- -* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) +* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) add autoware\_ prefix * Contributors: Masaki Baba, RyuYamamoto, Yutaka Kondo diff --git a/localization/autoware_localization_util/CHANGELOG.rst b/localization/autoware_localization_util/CHANGELOG.rst index b64aecd4ac4a3..7dae713216362 100644 --- a/localization/autoware_localization_util/CHANGELOG.rst +++ b/localization/autoware_localization_util/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_localization_util 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util * Contributors: Masaki Baba, Yutaka Kondo diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst index e28c1a801338d..36b7becac9be0 100644 --- a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst +++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_ndt_scan_matcher 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix * Contributors: Masaki Baba, Yutaka Kondo diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h index 85f37e878bd48..0e43b0b35aecd 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h @@ -130,19 +130,12 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid mean_(Eigen::Vector3d::Zero()), centroid_(), cov_(Eigen::Matrix3d::Identity()), - icov_(Eigen::Matrix3d::Zero()), - evecs_(Eigen::Matrix3d::Identity()), - evals_(Eigen::Vector3d::Zero()) + icov_(Eigen::Matrix3d::Zero()) { } Leaf(const Leaf & other) - : mean_(other.mean_), - centroid_(other.centroid_), - cov_(other.cov_), - icov_(other.icov_), - evecs_(other.evecs_), - evals_(other.evals_) + : mean_(other.mean_), centroid_(other.centroid_), cov_(other.cov_), icov_(other.icov_) { nr_points_ = other.nr_points_; } @@ -151,9 +144,7 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid : mean_(std::move(other.mean_)), centroid_(std::move(other.centroid_)), cov_(std::move(other.cov_)), - icov_(std::move(other.icov_)), - evecs_(std::move(other.evecs_)), - evals_(std::move(other.evals_)) + icov_(std::move(other.icov_)) { nr_points_ = other.nr_points_; } @@ -164,8 +155,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid centroid_ = other.centroid_; cov_ = other.cov_; icov_ = other.icov_; - evecs_ = other.evecs_; - evals_ = other.evals_; nr_points_ = other.nr_points_; return *this; @@ -177,8 +166,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid centroid_ = std::move(other.centroid_); cov_ = std::move(other.cov_); icov_ = std::move(other.icov_); - evecs_ = std::move(other.evecs_); - evals_ = std::move(other.evals_); nr_points_ = other.nr_points_; return *this; @@ -204,22 +191,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid Eigen::Vector3d & getMean() { return (mean_); } - /** \brief Get the eigen vectors of the voxel covariance. - * \note Order corresponds with \ref getEvals - * \return matrix whose columns contain eigen vectors - */ - const Eigen::Matrix3d & getEvecs() const { return (evecs_); } - - Eigen::Matrix3d & getEvecs() { return (evecs_); } - - /** \brief Get the eigen values of the voxel covariance. - * \note Order corresponds with \ref getEvecs - * \return vector of eigen values - */ - const Eigen::Vector3d & getEvals() const { return (evals_); } - - Eigen::Vector3d & getEvals() { return (evals_); } - /** \brief Get the number of points contained by this voxel. * \return number of points */ @@ -241,12 +212,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid /** \brief Inverse of voxel covariance matrix */ Eigen::Matrix3d icov_; - - /** \brief Eigen vectors of voxel covariance matrix */ - Eigen::Matrix3d evecs_; - - /** \brief Eigen values of voxel covariance matrix */ - Eigen::Vector3d evals_; }; /** \brief Pointer to MultiVoxelGridCovariance leaf structure */ diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp index ef64471dd4784..3d7076bbae06d 100644 --- a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp @@ -441,7 +441,7 @@ void pclomp::MultiVoxelGridCovariance::computeLeafParams( // Normalize Eigen Val such that max no more than 100x min. eigensolver.compute(leaf.cov_); Eigen::Matrix3d eigen_val = eigensolver.eigenvalues().asDiagonal(); - leaf.evecs_ = eigensolver.eigenvectors(); + Eigen::Matrix3d eigen_vec = eigensolver.eigenvectors(); if (eigen_val(0, 0) < 0 || eigen_val(1, 1) < 0 || eigen_val(2, 2) <= 0) { leaf.nr_points_ = -1; @@ -457,9 +457,8 @@ void pclomp::MultiVoxelGridCovariance::computeLeafParams( eigen_val(1, 1) = min_covar_eigvalue; } - leaf.cov_ = leaf.evecs_ * eigen_val * leaf.evecs_.inverse(); + leaf.cov_ = eigen_vec * eigen_val * eigen_vec.inverse(); } - leaf.evals_ = eigen_val.diagonal(); leaf.icov_ = leaf.cov_.inverse(); if ( diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst index a261e22cdb60c..653daf8d9a34c 100644 --- a/localization/autoware_pose2twist/CHANGELOG.rst +++ b/localization/autoware_pose2twist/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_pose2twist 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) +* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) * add autoware\_ prefix * use target_include_directories instead --------- diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst index 6dff24e91bd23..e59dee39371e3 100644 --- a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst +++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_pose_covariance_modifier 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* docs(autoware_pose_covariance_modifier): fix gt symbol (`#9082 `_) -* docs(autoware_pose_cov_modifier): fix line breaks and dead links (`#8991 `_) +* docs(autoware_pose_covariance_modifier): fix gt symbol (`#9082 `_) +* docs(autoware_pose_cov_modifier): fix line breaks and dead links (`#8991 `_) * fix(autoware_pose_cov_modifier): fix line breaks * fix dead links --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(autoware_pose_covariance_modifier): fix funcArgNamesDifferent (`#8007 `_) +* fix(autoware_pose_covariance_modifier): fix funcArgNamesDifferent (`#8007 `_) fix:funcArgNamesDifferent -* fix(pose_covariance_modifier): fix json schema (`#7323 `_) +* fix(pose_covariance_modifier): fix json schema (`#7323 `_) fix json schema Co-authored-by: Kotaro Yoshimoto -* fix(autoware_pose_covariance_modifier): change log output from screen to both (`#7198 `_) +* fix(autoware_pose_covariance_modifier): change log output from screen to both (`#7198 `_) change log output from screen to both Co-authored-by: SakodaShintaro -* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) +* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) Co-authored-by: M. Fatih Cırıt * Contributors: Esteve Fernandez, Masaki Baba, Yamato Ando, Yutaka Kondo, kobayu858, melike tanrikulu diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst index 4981ed9812334..37bf54b3d27ee 100644 --- a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst +++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_pose_estimator_arbiter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix -* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) +* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) * add autoware\_ prefix * add autoware\_ prefix * fix link for landmark_based_localizer diff --git a/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp b/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp index 6332b77a9ed31..884daa7ee7580 100644 --- a/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp @@ -21,6 +21,7 @@ #include #include +#include #include #include #include diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst index 24764833d8599..c6986a26a3d20 100644 --- a/localization/autoware_pose_initializer/CHANGELOG.rst +++ b/localization/autoware_pose_initializer/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_pose_initializer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* feat(pose_initializer): check error initial pose and gnss pose, output diagnostics (`#8947 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat(pose_initializer): check error initial pose and gnss pose, output diagnostics (`#8947 `_) * check initial pose error use GNSS pose * add pose_error_check_enabled parameter * fixed key value name @@ -16,9 +16,9 @@ Changelog for package autoware_pose_initializer * fixed type and default in schema json * rename key value --------- -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) * add autoware\_ prefix * fix link --------- diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst index 61445eda83331..f81c3c36e8b90 100644 --- a/localization/autoware_pose_instability_detector/CHANGELOG.rst +++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_pose_instability_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) +* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) * add autoware\_ prefix * add autoware\_ prefix --------- diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst index 92dd7bfb70be9..94aa8719318f5 100644 --- a/localization/autoware_stop_filter/CHANGELOG.rst +++ b/localization/autoware_stop_filter/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_stop_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): autoware stop filter docs (`#8302 `_) +* fix(docs): autoware stop filter docs (`#8302 `_) fix autoware stop filter docs -* fix(autoware_stop_filter): fix funcArgNamesDifferent (`#8008 `_) +* fix(autoware_stop_filter): fix funcArgNamesDifferent (`#8008 `_) fix:funcArgNamesDifferent -* chore(localization, map): remove maintainer (`#7940 `_) -* fix(stop_filter): fix plugin name (`#7820 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* fix(stop_filter): fix plugin name (`#7820 `_) Fixed plugin name -* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) +* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) * refactor(stop_filter): prefix package and namespace with autoware * fix launch files and update CODEOWNERS --------- diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst index 15e448647054d..1f6228b9b5f62 100644 --- a/localization/autoware_twist2accel/CHANGELOG.rst +++ b/localization/autoware_twist2accel/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_twist2accel 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(autoware_twist2accel): fix funcArgNamesDifferent (`#8391 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_twist2accel): fix funcArgNamesDifferent (`#8391 `_) fix:funcArgNamesDifferent -* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) +* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) * add autoware\_ prefix * add autoware\_ prefix * add autoware\_ prefix diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst index b2776cf51305d..936f230220d86 100644 --- a/localization/yabloc/yabloc_common/CHANGELOG.rst +++ b/localization/yabloc/yabloc_common/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package yabloc_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(yabloc_common): fix unusedFunction (`#8560 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(yabloc_common): fix unusedFunction (`#8560 `_) fix:unusedFunction -* perf(yabloc_common): remove unnecessary pub/sub depth for transient_local (`#8248 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix: replace deprecated header in Jazzy (`#7603 `_) +* perf(yabloc_common): remove unnecessary pub/sub depth for transient_local (`#8248 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(yabloc_common): apply static analysis (`#7481 `_) +* refactor(yabloc_common): apply static analysis (`#7481 `_) * refactor based on linter * restore unwanted change * remove unnecessary comment @@ -28,7 +28,7 @@ Changelog for package yabloc_common * add static cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc): suppress no viable conversion error (`#7299 `_) +* fix(yabloc): suppress no viable conversion error (`#7299 `_) * use tier4_autoware_utils instead of yabloc::Color * use static_cast to convert Color to RGBA * use tier4_autoware_utils instead of yabloc::Color @@ -36,17 +36,17 @@ Changelog for package yabloc_common * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* refactor(yabloc): use constexpr properly (`#7207 `_) -* fix(yabloc): fix bug in capturing in lambda function (`#7208 `_) +* refactor(yabloc): use constexpr properly (`#7207 `_) +* fix(yabloc): fix bug in capturing in lambda function (`#7208 `_) * fix(yabloc): fix bug in capturing in lambda function * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) +* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) * make executables component * log output changes to both * style(pre-commit): autofix @@ -55,17 +55,17 @@ Changelog for package yabloc_common * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(glog): add initialization check (`#6792 `_) +* chore(glog): add initialization check (`#6792 `_) * Contributors: Esteve Fernandez, Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Ryohsuke Mitsudome, Ryuta Kambe, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo, kobayu858, ぐるぐる 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) +* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) * replace parameters by json_to_markdown * fix some schma path * fix again --------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -88,20 +88,20 @@ Changelog for package yabloc_common * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* build(yabloc_common): add missing libgoogle-glog-dev dependency (`#5225 `_) +* build(yabloc_common): add missing libgoogle-glog-dev dependency (`#5225 `_) * build(yabloc_common): add missing libgoogle-glog-dev dependency * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* chore: add maintainer in localization and map packages (`#4501 `_) -* fix(yabloc): fix typo (`#4281 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -112,7 +112,7 @@ Changelog for package yabloc_common * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -258,26 +258,26 @@ Changelog for package yabloc_common * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -288,18 +288,18 @@ Changelog for package yabloc_common * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -307,42 +307,42 @@ Changelog for package yabloc_common * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -356,47 +356,47 @@ Changelog for package yabloc_common * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -407,8 +407,8 @@ Changelog for package yabloc_common * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -417,8 +417,8 @@ Changelog for package yabloc_common * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -426,15 +426,15 @@ Changelog for package yabloc_common * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -443,7 +443,7 @@ Changelog for package yabloc_common * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst index 00cb4ae799dbb..b3b0eab9847b4 100644 --- a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst +++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package yabloc_image_processing 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(yabloc_image_processing): fix shadowFunction (`#7865 `_) +* fix(yabloc_image_processing): fix shadowFunction (`#7865 `_) * fix(yabloc_image_processing): fix shadowFunction * fix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: replace deprecated header in Jazzy (`#7603 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(yabloc_image_processing): apply static analysis (`#7489 `_) +* refactor(yabloc_image_processing): apply static analysis (`#7489 `_) * refactor based on linter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_image_processing): componentize yabloc_image_processing nodes (`#7196 `_) +* feat(yabloc_image_processing): componentize yabloc_image_processing nodes (`#7196 `_) * replace executable with component * modify launch * fix line_segments_overlay namespace & node_name @@ -37,12 +37,12 @@ Changelog for package yabloc_image_processing 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) +* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) * replace parameters by json_to_markdown * fix some schma path * fix again --------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -65,30 +65,30 @@ Changelog for package yabloc_image_processing * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) +* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) * change arg default value * add yabloc_trigger_service * fix misc --------- -* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) +* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) * add raw image subscriber * update README * improve format and variable names --------- -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* fix(yabloc_image_processing): handle exception when no lines detected (`#4717 `_) -* chore: add maintainer in localization and map packages (`#4501 `_) -* feat(yabloc): change namespace (`#4389 `_) +* fix(yabloc_image_processing): handle exception when no lines detected (`#4717 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* fix(yabloc): fix typo (`#4281 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -99,7 +99,7 @@ Changelog for package yabloc_image_processing * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -124,14 +124,14 @@ Changelog for package yabloc_image_processing * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc): fix spell-check CI (`#4268 `_) +* fix(yabloc): fix spell-check CI (`#4268 `_) * fix(yabloc): fix typo * style(pre-commit): autofix * fix more typo * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -277,26 +277,26 @@ Changelog for package yabloc_image_processing * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -307,18 +307,18 @@ Changelog for package yabloc_image_processing * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -326,42 +326,42 @@ Changelog for package yabloc_image_processing * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -375,47 +375,47 @@ Changelog for package yabloc_image_processing * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -426,8 +426,8 @@ Changelog for package yabloc_image_processing * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -436,8 +436,8 @@ Changelog for package yabloc_image_processing * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -445,15 +445,15 @@ Changelog for package yabloc_image_processing * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -462,7 +462,7 @@ Changelog for package yabloc_image_processing * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst index a22ba4228ef0d..322ed6fa7ce20 100644 --- a/localization/yabloc/yabloc_monitor/CHANGELOG.rst +++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package yabloc_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(localization, map): remove maintainer (`#7940 `_) -* feat(yabloc_monitor): componentize yabloc_monitor node (`#7509 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* feat(yabloc_monitor): componentize yabloc_monitor node (`#7509 `_) * change node to component * fix launch file & cmake --------- @@ -14,7 +14,7 @@ Changelog for package yabloc_monitor 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -37,13 +37,13 @@ Changelog for package yabloc_monitor * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* chore: add maintainer in localization and map packages (`#4501 `_) -* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) * feat(yabloc_monitor): add yabloc_monitor * style(pre-commit): autofix * add readme diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst index 671c65cade5d7..967571100c5f4 100644 --- a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst +++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package yabloc_particle_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(yabloc_particle_filter): apply static analysis (`#7519 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(yabloc_particle_filter): apply static analysis (`#7519 `_) * removed unused * style(pre-commit): autofix * removed unused @@ -17,9 +17,9 @@ Changelog for package yabloc_particle_filter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(yabloc_common): apply static analysis (`#7481 `_) +* refactor(yabloc_common): apply static analysis (`#7481 `_) * refactor based on linter * restore unwanted change * remove unnecessary comment @@ -28,7 +28,7 @@ Changelog for package yabloc_particle_filter * add static cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_particle_filter): componentize yabloc_particle_filter nodes (`#7305 `_) +* feat(yabloc_particle_filter): componentize yabloc_particle_filter nodes (`#7305 `_) * componentize particle predictor * componentize particle visualizer * componentize particle correctors @@ -39,7 +39,7 @@ Changelog for package yabloc_particle_filter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto -* fix(yabloc): suppress no viable conversion error (`#7299 `_) +* fix(yabloc): suppress no viable conversion error (`#7299 `_) * use tier4_autoware_utils instead of yabloc::Color * use static_cast to convert Color to RGBA * use tier4_autoware_utils instead of yabloc::Color @@ -47,7 +47,7 @@ Changelog for package yabloc_particle_filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) +* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) * make executables component * log output changes to both * style(pre-commit): autofix @@ -56,12 +56,12 @@ Changelog for package yabloc_particle_filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(glog): add initialization check (`#6792 `_) +* chore(glog): add initialization check (`#6792 `_) * Contributors: Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -84,29 +84,29 @@ Changelog for package yabloc_particle_filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) +* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) * change arg default value * add yabloc_trigger_service * fix misc --------- -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* chore: add maintainer in localization and map packages (`#4501 `_) -* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) * refactor(yabloc_particle_filter): remove deprecated cmake ros2idl API * refactor(yabloc_pose_initializer): remove deprecated cmake ros2idl API --------- -* feat(yabloc): change namespace (`#4389 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* fix(yabloc_particle_filter): fix typo (`#4332 `_) -* fix(yabloc): fix typo (`#4281 `_) +* fix(yabloc_particle_filter): fix typo (`#4332 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -117,7 +117,7 @@ Changelog for package yabloc_particle_filter * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -142,14 +142,14 @@ Changelog for package yabloc_particle_filter * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc): fix spell-check CI (`#4268 `_) +* fix(yabloc): fix spell-check CI (`#4268 `_) * fix(yabloc): fix typo * style(pre-commit): autofix * fix more typo * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -295,26 +295,26 @@ Changelog for package yabloc_particle_filter * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -325,18 +325,18 @@ Changelog for package yabloc_particle_filter * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -344,42 +344,42 @@ Changelog for package yabloc_particle_filter * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -393,47 +393,47 @@ Changelog for package yabloc_particle_filter * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -444,8 +444,8 @@ Changelog for package yabloc_particle_filter * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -454,8 +454,8 @@ Changelog for package yabloc_particle_filter * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -463,15 +463,15 @@ Changelog for package yabloc_particle_filter * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -480,7 +480,7 @@ Changelog for package yabloc_particle_filter * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst index 9e4ceff33133f..fac49c978ca92 100644 --- a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst +++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst @@ -5,31 +5,31 @@ Changelog for package yabloc_pose_initializer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(pose_initializer, ndt_scan_matcher): check initial pose result and publish diag (`#8275 `_) +* feat(pose_initializer, ndt_scan_matcher): check initial pose result and publish diag (`#8275 `_) * feat(localization): check initial pose result and publish diag * fix: refactor * feat: update README * fix: rename reliability to reliable * feat: always return true in yabloc module --------- -* refactor(yabloc_pose_initializer): apply static analysis (`#7719 `_) +* refactor(yabloc_pose_initializer): apply static analysis (`#7719 `_) * refactor based on linter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix: replace deprecated header in Jazzy (`#7603 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* feat(yabloc_pose_initializer): componentize yabloc_pose_initializer node (`#7506 `_) +* feat(yabloc_pose_initializer): componentize yabloc_pose_initializer node (`#7506 `_) * change the node to component * remove useless node.cpp * add rclcpp_components as dependency --------- -* fix(yabloc): suppress no viable conversion error (`#7299 `_) +* fix(yabloc): suppress no viable conversion error (`#7299 `_) * use tier4_autoware_utils instead of yabloc::Color * use static_cast to convert Color to RGBA * use tier4_autoware_utils instead of yabloc::Color @@ -37,17 +37,17 @@ Changelog for package yabloc_pose_initializer * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* perf(yabloc): fix performance warning of iterateByValue (`#6929 `_) +* perf(yabloc): fix performance warning of iterateByValue (`#6929 `_) * Contributors: Kento Yabuuchi, Masaki Baba, Ryohsuke Mitsudome, RyuYamamoto, Ryuta Kambe, Yutaka Kondo, ぐるぐる 0.26.0 (2024-04-03) ------------------- -* build(yabloc_pose_initializer): fix dependencies (`#6190 `_) -* chore(yabloc): rework parameters (`#6170 `_) +* build(yabloc_pose_initializer): fix dependencies (`#6190 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -70,19 +70,19 @@ Changelog for package yabloc_pose_initializer * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* build(yabloc_pose_initializer): remove downloading logic from CMake (`#4905 `_) +* build(yabloc_pose_initializer): remove downloading logic from CMake (`#4905 `_) * remove downloading logic from Cmake * build(yabloc_pose_initializer): remove downloading logic from CMake * build(yabloc_pose_initializer): update default model path in launch file --------- -* refactor(yabloc_pose_initializer): use cpp DNN module instead of python (`#5025 `_) +* refactor(yabloc_pose_initializer): use cpp DNN module instead of python (`#5025 `_) * cannot include yabloc_pose_initializer.srv * launch semantic_segmentation_cpp * implement DNN inference as C++ @@ -98,16 +98,16 @@ Changelog for package yabloc_pose_initializer * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer in localization and map packages (`#4501 `_) -* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) * refactor(yabloc_particle_filter): remove deprecated cmake ros2idl API * refactor(yabloc_pose_initializer): remove deprecated cmake ros2idl API --------- -* feat(yabloc): change namespace (`#4389 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* feat(yabloc_pose_initializer): make yabloc independent of dnn model by default (`#4296 `_) +* feat(yabloc_pose_initializer): make yabloc independent of dnn model by default (`#4296 `_) * care no dnn model exists * modify segmentation_srv to inform inference failure * add documentation @@ -116,7 +116,7 @@ Changelog for package yabloc_pose_initializer * make const variable be capital * use std::optional rather than reference arg --------- -* fix(yabloc): fix typo (`#4281 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -127,7 +127,7 @@ Changelog for package yabloc_pose_initializer * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -152,9 +152,9 @@ Changelog for package yabloc_pose_initializer * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc_pose_initializer): disable downloading artifacts by default (`#4110 `_) +* fix(yabloc_pose_initializer): disable downloading artifacts by default (`#4110 `_) Co-authored-by: Esteve Fernandez -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -300,26 +300,26 @@ Changelog for package yabloc_pose_initializer * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -330,18 +330,18 @@ Changelog for package yabloc_pose_initializer * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -349,42 +349,42 @@ Changelog for package yabloc_pose_initializer * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -398,47 +398,47 @@ Changelog for package yabloc_pose_initializer * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -449,8 +449,8 @@ Changelog for package yabloc_pose_initializer * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -459,8 +459,8 @@ Changelog for package yabloc_pose_initializer * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -468,15 +468,15 @@ Changelog for package yabloc_pose_initializer * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -485,7 +485,7 @@ Changelog for package yabloc_pose_initializer * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt b/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt index 2e6d31ae2f12b..d67c0e73eb91f 100644 --- a/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt +++ b/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt @@ -27,7 +27,7 @@ ament_auto_add_library(${PROJECT_NAME} src/camera/semantic_segmentation.cpp src/camera/camera_pose_initializer_core.cpp) target_include_directories(${PROJECT_NAME} PUBLIC include) -target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) +target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} Sophus::Sophus) ament_target_dependencies(${PROJECT_NAME} OpenCV) diff --git a/map/autoware_lanelet2_map_visualizer/CMakeLists.txt b/map/autoware_lanelet2_map_visualizer/CMakeLists.txt new file mode 100644 index 0000000000000..5f2cb4a1f67a1 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_lanelet2_map_visualizer) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(lanelet2_map_visualization_node SHARED + src/lanelet2_map_visualization_node.cpp +) + +rclcpp_components_register_node(lanelet2_map_visualization_node + PLUGIN "autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode" + EXECUTABLE lanelet2_map_visualization +) + +ament_auto_package(INSTALL_TO_SHARE + launch +) diff --git a/map/autoware_lanelet2_map_visualizer/README.md b/map/autoware_lanelet2_map_visualizer/README.md new file mode 100644 index 0000000000000..b7e86b4a0d62b --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/README.md @@ -0,0 +1,21 @@ +# autoware_lanelet2_map_visualizer package + +This package provides the features of visualizing the lanelet2 maps. + +## lanelet2_map_visualization + +### Feature + +lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray. + +### How to Run + +`ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization` + +### Subscribed Topics + +- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map + +### Published Topics + +- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz diff --git a/map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml b/map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml new file mode 100644 index 0000000000000..6c6702c6e7904 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml new file mode 100644 index 0000000000000..0244a5f010aa4 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/package.xml @@ -0,0 +1,36 @@ + + + + autoware_lanelet2_map_visualizer + 0.1.0 + The autoware_lanelet2_map_visualizer package + Yamato Ando + Ryu Yamamoto + Masahiro Sakamoto + Kento Yabuuchi + NGUYEN Viet Anh + Taiki Yamada + Shintaro Sakoda + Mamoru Sobue + + Apache License 2.0 + Ryohsuke Mitsudome + Koji Minoda + + ament_cmake_auto + autoware_cmake + + autoware_lanelet2_extension + autoware_map_msgs + rclcpp + rclcpp_components + tier4_map_msgs + visualization_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp similarity index 98% rename from map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp rename to map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp index 4a9aae78e8eb3..ae9e7114cb385 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp +++ b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp @@ -31,7 +31,7 @@ * */ -#include "map_loader/lanelet2_map_visualization_node.hpp" +#include "lanelet2_map_visualization_node.hpp" #include #include @@ -49,7 +49,7 @@ #include #include -namespace +namespace autoware::lanelet2_map_visualizer { void insert_marker_array( visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2) @@ -64,7 +64,6 @@ void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doub cl->b = static_cast(b); cl->a = static_cast(a); } -} // namespace Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOptions & options) : Node("lanelet2_map_visualization", options) @@ -314,6 +313,7 @@ void Lanelet2MapVisualizationNode::on_map_bin( pub_marker_->publish(map_marker_array); } +} // namespace autoware::lanelet2_map_visualizer #include -RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapVisualizationNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode) diff --git a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp similarity index 83% rename from map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp rename to map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp index 049d714ec452a..7694c191f12a2 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp +++ b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_ -#define MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_ +#ifndef LANELET2_MAP_VISUALIZATION_NODE_HPP_ +#define LANELET2_MAP_VISUALIZATION_NODE_HPP_ #include @@ -23,6 +23,8 @@ #include #include +namespace autoware::lanelet2_map_visualizer +{ class Lanelet2MapVisualizationNode : public rclcpp::Node { public: @@ -36,5 +38,6 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node void on_map_bin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg); }; +} // namespace autoware::lanelet2_map_visualizer -#endif // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_ +#endif // LANELET2_MAP_VISUALIZATION_NODE_HPP_ diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst index 857ffd6b70d4e..5521960cabbdf 100644 --- a/map/autoware_map_height_fitter/CHANGELOG.rst +++ b/map/autoware_map_height_fitter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_map_height_fitter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) +* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) * add autoware\_ prefix * style(pre-commit): autofix * remove duplicated dependency diff --git a/map/map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst similarity index 73% rename from map/map_loader/CHANGELOG.rst rename to map/autoware_map_loader/CHANGELOG.rst index c0c9c1fc89feb..d7acfba736fd1 100644 --- a/map/map_loader/CHANGELOG.rst +++ b/map/autoware_map_loader/CHANGELOG.rst @@ -5,37 +5,37 @@ Changelog for package map_loader 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix -* docs(map_loader): update the link of pointcloud_divider (`#8823 `_) +* docs(map_loader): update the link of pointcloud_divider (`#8823 `_) update link -* docs(map_loader): update the link of map_projection_loader (`#8825 `_) +* docs(map_loader): update the link of map_projection_loader (`#8825 `_) update the link of map_projection_loader -* chore(map_loader): update maintainer (`#8821 `_) +* chore(map_loader): update maintainer (`#8821 `_) update maintainer -* feat(map loader): visualize bus stop area and bicycle_lane (`#8777 `_) -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* feat(map loader): visualize bus stop area and bicycle_lane (`#8777 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- -* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) -* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) +* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- -* chore(localization, map): remove maintainer (`#7940 `_) -* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) Co-authored-by: Yamato Ando -* refactor(map_loader): apply static analysis (`#7845 `_) +* refactor(map_loader): apply static analysis (`#7845 `_) * refactor based on linter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* style: updating the colors for the parking spaces and lot (`#7726 `_) -* feat(map_loader): add waypoints flag (`#7480 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* style: updating the colors for the parking spaces and lot (`#7726 `_) +* feat(map_loader): add waypoints flag (`#7480 `_) * feat(map_loader): handle centelrine and waypoints * update README * fix doc @@ -43,7 +43,7 @@ Changelog for package map_loader * fix * fix --------- -* feat(map_loader): warn if some pcds from the metadata file are missing (`#7406 `_) +* feat(map_loader): warn if some pcds from the metadata file are missing (`#7406 `_) * Examine if there are PCD segments found in the metadata file but are missing from the input pcd paths * style(pre-commit): autofix * Fixing CI @@ -53,12 +53,12 @@ Changelog for package map_loader * Removed try{} block from getPCDMetadata and redundant std::endl at the end of error messages --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(map): udpate maintainer (`#7405 `_) +* chore(map): udpate maintainer (`#7405 `_) udpate maintainer -* fix(map_loader): add log output (`#7203 `_) +* fix(map_loader): add log output (`#7203 `_) add log output Co-authored-by: SakodaShintaro -* feat!: replace autoware_auto_msgs with autoware_msgs for map modules (`#7244 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for map modules (`#7244 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -66,9 +66,9 @@ Changelog for package map_loader 0.26.0 (2024-04-03) ------------------- -* fix(map_loader): fix warnings with single point cloud map metadata (`#6384 `_) -* fix(log-messages): reduce excessive log messages (`#5971 `_) -* chore(map_loader): rework parameters of map_loader (`#6199 `_) +* fix(map_loader): fix warnings with single point cloud map metadata (`#6384 `_) +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* chore(map_loader): rework parameters of map_loader (`#6199 `_) * Rework parameters of map_loader * style(pre-commit): autofix * Fixed typo in name of map_based_pediction.schema.json, which cause json-schema-check failed @@ -78,24 +78,24 @@ Changelog for package map_loader * Remove default values of declare_parameter from map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* revert(map_loader): revert the change error handling when pcd_metadata file (`#6294 `_) - Revert "fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_)" +* revert(map_loader): revert the change error handling when pcd_metadata file (`#6294 `_) + Revert "fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_)" This reverts commit 25bc636fe0f796c63daac60123aa6138146e515d. -* chore(lanelet2_map_loader): enrich error message (`#6245 `_) -* chore(map_loader): add maintainer (`#6232 `_) -* fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_) +* chore(lanelet2_map_loader): enrich error message (`#6245 `_) +* chore(map_loader): add maintainer (`#6232 `_) +* fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_) Changed error handling when pcd_metadata file not found -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* fix(map_loader): show traffic light regulatory element id per lanelet (`#6028 `_) +* fix(map_loader): show traffic light regulatory element id per lanelet (`#6028 `_) * fix(map_loader): show traffic light regulatory element id per lanelet * feat(map_loader): show traffic light id --------- Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* refactor(ndt_scan_matcher, map_loader): remove map_module (`#5873 `_) +* refactor(ndt_scan_matcher, map_loader): remove map_module (`#5873 `_) * Removed use_dynamic_map_loading * Removed enable_differential_load option * style(pre-commit): autofix @@ -104,39 +104,39 @@ Changelog for package map_loader * Removed pointcloud_map and input_ekf_odom --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): use dummy projector when using local coordinates (`#5866 `_) +* feat(map_loader): use dummy projector when using local coordinates (`#5866 `_) * feat(map_loader): use dummy projector when using local coordinates * fix build warning * fix runtime error * fix reverse function --------- -* chore(map_loader): visualize crosswalk id (`#5880 `_) -* chore: add maintainer in map packages (`#5865 `_) +* chore(map_loader): visualize crosswalk id (`#5880 `_) +* chore: add maintainer in map packages (`#5865 `_) * add maintainer * modify map_tf_generator's maintainer --------- -* fix: add_ros_test to add_launch_test (`#5486 `_) +* fix: add_ros_test to add_launch_test (`#5486 `_) * fix: add_ros_test to add_launch_test * fix ndt_scan_matcher --------- -* chore(map_loader): update readme (`#5468 `_) +* chore(map_loader): update readme (`#5468 `_) * chore(map_loader): update readme * make the annotation bold * fix --------- -* feat(map_loader): show intersection areas (`#5401 `_) -* feat(map_loader): display curbstone as marker array (`#4958 `_) +* feat(map_loader): show intersection areas (`#5401 `_) +* feat(map_loader): display curbstone as marker array (`#4958 `_) display curbstone as marker array Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* refactor(map_packages): remove unused depend in pakcages.xml files (`#5172 `_) +* refactor(map_packages): remove unused depend in pakcages.xml files (`#5172 `_) Co-authored-by: yamato-ando -* feat: support transverse mercator projection (`#4883 `_) +* feat: support transverse mercator projection (`#4883 `_) * feat: support transverse mercator projection * fix some * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(geography_utils): add lanelet2_projector (`#4852 `_) +* feat(geography_utils): add lanelet2_projector (`#4852 `_) * feat(geography_utils): add lanelet2_projector * style(pre-commit): autofix * update package.xml @@ -145,14 +145,14 @@ Changelog for package map_loader * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use constant string for map_projector_info (`#4789 `_) +* feat: use constant string for map_projector_info (`#4789 `_) * feat: use constant string for map_projector_info * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: add vertical datum in map_projector_info (`#4708 `_) +* feat!: add vertical datum in map_projector_info (`#4708 `_) * resolve conflict * update * UTM -> LocalCartesianUTM @@ -165,15 +165,15 @@ Changelog for package map_loader * add vertical datum for lanelet2 --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: rename utm to local_cartesian_utm (`#4704 `_) +* feat!: rename utm to local_cartesian_utm (`#4704 `_) * feat(map_projection_loader, map_loader): rename utm to local_cartesian_utm * fix readme * fix default ad api --------- -* feat!: rename map_projector_type to map_projector_info (`#4664 `_) -* fix(lanelet2_map_loader): fixed parameter declaration timing (`#4639 `_) +* feat!: rename map_projector_type to map_projector_info (`#4664 `_) +* fix(lanelet2_map_loader): fixed parameter declaration timing (`#4639 `_) Change parameter declaration timing -* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) +* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) * feat(map): use component_interface_specs in map_projection_loader * update map_loader * style(pre-commit): autofix @@ -183,7 +183,7 @@ Changelog for package map_loader * fix test --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_projection_loader): add map_projection_loader (`#3986 `_) +* feat(map_projection_loader): add map_projection_loader (`#3986 `_) * feat(map_projection_loader): add map_projection_loader * style(pre-commit): autofix * Update default algorithm @@ -237,17 +237,17 @@ Changelog for package map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* chore: add maintainer in localization and map packages (`#4501 `_) -* feat(goal_planner): add no_parking_area for goal search (`#3467 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(goal_planner): add no_parking_area for goal search (`#3467 `_) * feat(behavior_path_planner): use no_parking_area for pull_over * support no_stopping_area --------- -* fix(map_loader): fix spell-check (`#4280 `_) -* feat(crosswalk): support crosswalk regulatory element (`#3939 `_) +* fix(map_loader): fix spell-check (`#4280 `_) +* feat(crosswalk): support crosswalk regulatory element (`#3939 `_) * feat(crosswalk): use regulatory element * feat(map_loader): show crosswalk areas --------- -* fix(map_loader): update readme for metadata (`#3919 `_) +* fix(map_loader): update readme for metadata (`#3919 `_) * fix(map_loader): update readme for metadata * style(pre-commit): autofix * update @@ -258,14 +258,14 @@ Changelog for package map_loader * update --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(map_loader): handle enable_selected_load correctly (`#3920 `_) +* fix(map_loader): handle enable_selected_load correctly (`#3920 `_) * fix(map_loader): update readme for metadata * fix(map_loader): handle enable_selected_load flag correctly * style(pre-commit): autofix * revert readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): use cylindrical area for map loader (`#3863 `_) +* feat(map_loader): use cylindrical area for map loader (`#3863 `_) * feat(map_loader): use cylindrical area for query instead of spherical area * update * style(pre-commit): autofix @@ -273,7 +273,7 @@ Changelog for package map_loader * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add publish map projector info (`#3200 `_) +* feat(map_loader): add publish map projector info (`#3200 `_) * add publish mgrs grid * fix publish wrong grid code when there is no mgrs code in lanelet * Revert "fix publish wrong grid code when there is no mgrs code in lanelet" @@ -287,19 +287,19 @@ Changelog for package map_loader * add local publish --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* fix(map_loader): re-align lanelet borders after overwriting coordinates (`#3825 `_) -* fix(map_loader): fix readme (`#3667 `_) -* feat(map_loader): visualize hatched road markings (`#3639 `_) +* fix(map_loader): re-align lanelet borders after overwriting coordinates (`#3825 `_) +* fix(map_loader): fix readme (`#3667 `_) +* feat(map_loader): visualize hatched road markings (`#3639 `_) * feat(map_loader): visualize hatched road markings * update --------- -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -307,13 +307,13 @@ Changelog for package map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(map_loader): add local map projector (`#3492 `_) +* feat(map_loader): add local map projector (`#3492 `_) * feat(map_loader): add local map projector * update README * update readme * use the same naming standard --------- -* feat(map_loader): add selected map loader (`#3286 `_) +* feat(map_loader): add selected map loader (`#3286 `_) * add id based map loader * add metadata publisher * feat(map_loader): add support for sequential_map_loading @@ -326,11 +326,11 @@ Changelog for package map_loader --------- Co-authored-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(map_loader): fix a bug that occurs when loading multiple pcds (`#3274 `_) +* fix(map_loader): fix a bug that occurs when loading multiple pcds (`#3274 `_) * fix(map_loader): fix a bug that occurs when loading multiple pcds * fix --------- -* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) +* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) * feat(map_loader): add grid coordinates for partial/differential map load * style(pre-commit): autofix * update readme @@ -340,9 +340,9 @@ Changelog for package map_loader * update readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(map_loader): address deprecated warning for some environment (`#3188 `_) +* fix(map_loader): address deprecated warning for some environment (`#3188 `_) fix(map_loader): address deprecated warning for some version -* test(map_loader): add a ROS 2 test (`#3170 `_) +* test(map_loader): add a ROS 2 test (`#3170 `_) * chore(map_loader): add a ROS 2 test * style(pre-commit): autofix * debug @@ -352,7 +352,7 @@ Changelog for package map_loader * fix pre-commit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) +* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) * chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch Update launch/tier4_map_launch/launch/map.launch.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> @@ -360,9 +360,9 @@ Changelog for package map_loader remove config path * chore(tier4_map_launch): fix lanelet launch name --------- -* ci(pre-commit): autoupdate (`#2819 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): dynamic map loading (`#2339 `_) +* feat(ndt_scan_matcher): dynamic map loading (`#2339 `_) * first commit * ci(pre-commit): autofix * import map update module in core @@ -415,17 +415,17 @@ Changelog for package map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* fix(lanelet2_map_loader): delete unused parameters (`#2761 `_) +* fix(lanelet2_map_loader): delete unused parameters (`#2761 `_) * fix(lanelet2_map_loader): delete unused parameters * Update lanelet2_map_loader.launch.xml -* fix(map_loader): apply clang-tidy (`#2668 `_) +* fix(map_loader): apply clang-tidy (`#2668 `_) * fix(map_loader): apply clang-tidy * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_velocity_planner): add speed bump module (`#647 `_) +* feat(behavior_velocity_planner): add speed bump module (`#647 `_) Co-authored-by: Kosuke Takeuchi Co-authored-by: Takayuki Murooka -* feat(map_loader): add differential map loading interface (`#2417 `_) +* feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -435,7 +435,7 @@ Changelog for package map_loader * fix readme * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) +* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) * first commit * debugged * update readme @@ -447,7 +447,7 @@ Changelog for package map_loader * set default param to false * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) +* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) * first commit * reverted unnecessary modification * ci(pre-commit): autofix @@ -497,7 +497,7 @@ Changelog for package map_loader * remove fmt from target_link_libraries in test * minor fix in cmakelists.txt Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(map_loader): modularization (`#2243 `_) +* refactor(map_loader): modularization (`#2243 `_) * refactor(map_loader): modularization * ci(pre-commit): autofix * simplified @@ -508,14 +508,14 @@ Changelog for package map_loader * ci(pre-commit): autofix * edit copyright Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(map_loader): add maintainer (`#2245 `_) +* chore(map_loader): add maintainer (`#2245 `_) * chore(map_loader): add maintainer * remove miyake-san -* feat(map_loader): make some functions static (`#2014 `_) +* feat(map_loader): make some functions static (`#2014 `_) * feat(map_loader): make some functions static * make publisher alive after constructor -* refactor(map_loader): split to member functions (`#1941 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* refactor(map_loader): split to member functions (`#1941 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -548,7 +548,7 @@ Changelog for package map_loader * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: add vector map inside area filter (`#1530 `_) +* feat: add vector map inside area filter (`#1530 `_) * feat: add no detection area filter * ci(pre-commit): autofix * chore: add documents @@ -572,25 +572,25 @@ Changelog for package map_loader * chore: using namespace of PolygonCgal for readability * feat: add functions for multiple polygons Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* test(map_loader): add launch test for the 'lanelet2_map_loader' node (`#1056 `_) +* test(map_loader): add launch test for the 'lanelet2_map_loader' node (`#1056 `_) Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add parameter argument for lanelet2_map_loader (`#954 `_) +* feat: add parameter argument for lanelet2_map_loader (`#954 `_) * feat: add parameter argument for lanelet2_map_loader * feat: add comment -* fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) +* fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* fix(map_loader): modify build error in rolling (`#777 `_) -* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) +* style: fix format of package.xml (`#844 `_) +* fix(map_loader): modify build error in rolling (`#777 `_) +* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) * ci(pre-commit): autofix * ci(pre-commit): autofix * fix(map_loader): add UTM projector to map_loader package @@ -613,14 +613,14 @@ Changelog for package map_loader Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt Co-authored-by: Berkay -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(lanelet2_extension,map_loader): add guard_rail wall fence as lanelet tag (`#478 `_) +* feat(lanelet2_extension,map_loader): add guard_rail wall fence as lanelet tag (`#478 `_) * feat(lanelet2_extension): add guard_rails fence wall as lanelet tag * feat(map_loader): add visualization for partion lanelet -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -637,7 +637,7 @@ Changelog for package map_loader * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -645,7 +645,7 @@ Changelog for package map_loader * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* refactor: remove unnecessary messages (`#133 `_) +* refactor: remove unnecessary messages (`#133 `_) * remove ControlCommand.msg and ControlCommandStamped.msg * remove BatteryStatus.msg RawControlCommand.msg RawVehicleCommand.msg VehicleCommand.msg * remove traffic_light_recognition msgs @@ -664,8 +664,8 @@ Changelog for package map_loader * ci(pre-commit): autofix * fix: each messages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: move elevation map loader (`#740 `_) (`#136 `_) - * feat: Move elevation map loader (`#740 `_) +* feat: move elevation map loader (`#740 `_) (`#136 `_) + * feat: Move elevation map loader (`#740 `_) * Update perception/elevation_map_loader/README.md Co-authored-by: Tomoya Kimura * Update perception/elevation_map_loader/README.md @@ -674,34 +674,34 @@ Changelog for package map_loader Co-authored-by: Tomoya Kimura Co-authored-by: Taichi Higashide Co-authored-by: Tomoya Kimura -* feat: add pcd map hash generator (`#745 `_) (`#130 `_) +* feat: add pcd map hash generator (`#745 `_) (`#130 `_) Co-authored-by: Taichi Higashide Co-authored-by: Tomoya Kimura -* feat: add map packages (`#8 `_) +* feat: add map packages (`#8 `_) * release v0.4.0 - * add resolution param in lanelet2_extension (`#760 `_) - * Fix/extend drivable area beyond goal (`#781 `_) + * add resolution param in lanelet2_extension (`#760 `_) + * Fix/extend drivable area beyond goal (`#781 `_) * update llt2 extention query func * extend drivable area over goal point * apply clang * update get preeceeding func * update preceeding func in lanechange * update comment - * Fix intersection preceeding lane query (`#807 `_) + * Fix intersection preceeding lane query (`#807 `_) * modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences() * update comment - * Install executables in lanelet2_map_preprocessor (`#834 `_) + * Install executables in lanelet2_map_preprocessor (`#834 `_) * remove ROS1 packages temporarily * Revert "remove ROS1 packages temporarily" This reverts commit 3290a8b9e92c9eae05d9159c8b9fd56ca8935c01. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * port map_tf_generator (`#32 `_) + * Rename launch files to launch.xml (`#28 `_) + * port map_tf_generator (`#32 `_) * port map_tf_generator * add missing dependency * fix pointor, tf_broadcaster, add compile option * use ament_auto - * Port lanelet2 extension (`#36 `_) + * Port lanelet2 extension (`#36 `_) * remove COLCON_IGNORE * port to ROS2 * minor fix @@ -711,18 +711,18 @@ Changelog for package map_loader * fix usage for ROS2 * fix usage message and parameter declaration * fix getting map_file parameter - * Port map loader (`#44 `_) + * Port map loader (`#44 `_) * port map_loader to ROS2 * fix unintended change * Update map/map_loader/CMakeLists.txt Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe - * Add geometry2 to repos (`#76 `_) + * Add geometry2 to repos (`#76 `_) * add geometry2 package temporarily until new release * trigger-ci * add tf2 dependency to the packages that use tf2_geometry_msgs - * Revert "Add geometry2 to repos (`#76 `_)" (`#96 `_) - * Revert "Add geometry2 to repos (`#76 `_)" + * Revert "Add geometry2 to repos (`#76 `_)" (`#96 `_) + * Revert "Add geometry2 to repos (`#76 `_)" This reverts commit 7dbe25ed5ff7d5f413fda567dcc77a70c79a7826. * Re-add tf2 dependencies * Revert "Re-add tf2 dependencies" @@ -733,31 +733,31 @@ Changelog for package map_loader * Explicitly install known versions of the geometry packages * No need to skip tf2 packages anymore Co-authored-by: Esteve Fernandez - * Rename h files to hpp (`#142 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * fixing trasient_local in ROS2 packages (`#160 `_) - * added linters to lanelet1_extension (`#170 `_) - * adding linters to map_loader (`#171 `_) - * adding linters to map_tf_generator (`#172 `_) - * apply env_var to use_sim_time (`#222 `_) - * Ros2 v0.8.0 map loader and lanelet2 extension (`#279 `_) - * Ros2 v0.8 fix typo of "preceding" (`#323 `_) + * fixing trasient_local in ROS2 packages (`#160 `_) + * added linters to lanelet1_extension (`#170 `_) + * adding linters to map_loader (`#171 `_) + * adding linters to map_tf_generator (`#172 `_) + * apply env_var to use_sim_time (`#222 `_) + * Ros2 v0.8.0 map loader and lanelet2 extension (`#279 `_) + * Ros2 v0.8 fix typo of "preceding" (`#323 `_) * Fix typo of getPrecedingLaneletSequences * Fix comment - * Fix rviz2 low FPS (`#390 `_) - * add nullptr check when publish concatenate data (`#369 `_) - * Add warning msg when concat pointcloud is not published (`#388 `_) + * Fix rviz2 low FPS (`#390 `_) + * add nullptr check when publish concatenate data (`#369 `_) + * Add warning msg when concat pointcloud is not published (`#388 `_) * Change lineString2Marker * Change trafficLight2TriangleMarker * Change laneletDirectionAsMarker @@ -765,21 +765,21 @@ Changelog for package map_loader * Fix linter problems Co-authored-by: Taichi Higashide Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * [map_loader] modify colors for lane markers for better visualization (`#398 `_) - * fix empty marker (`#423 `_) - * Fix typo in map module (`#437 `_) - * add license (`#443 `_) - * avoid pushing empty marker (`#441 `_) + * [map_loader] modify colors for lane markers for better visualization (`#398 `_) + * fix empty marker (`#423 `_) + * Fix typo in map module (`#437 `_) + * add license (`#443 `_) + * avoid pushing empty marker (`#441 `_) * avoid pushing empty marker * size0 -> empty - * add use_sim-time option (`#454 `_) - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * add use_sim-time option (`#454 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) * add readme of simple_planning_simulator * Update simulator/simple_planning_simulator/README.md - * set transit_margin_time to intersect. planner (`#460 `_) - * Fix pose2twist (`#462 `_) - * Ros2 vehicle info param server (`#447 `_) + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) * add vehicle_info_param_server * update vehicle info * apply format @@ -787,7 +787,7 @@ Changelog for package map_loader * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * Ros2 fix topic name part2 (`#425 `_) * Fix topic name of traffic_light_classifier * Fix topic name of traffic_light_visualization * Fix topic name of traffic_light_ssd_fine_detector @@ -797,19 +797,19 @@ Changelog for package map_loader * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * Fix issues in hdd_reader (`#466 `_) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct - * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) - * Rviz overlay render fix (`#461 `_) + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified * acquire data in mutex * back to RTD as superclass - * Rviz overlay render in update (`#465 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -823,16 +823,16 @@ Changelog for package map_loader Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Revert "fix: re-construct laneletMapLayer for reindex RTree (`#463 `_)" (`#1229 `_) + * Revert "fix: re-construct laneletMapLayer for reindex RTree (`#463 `_)" (`#1229 `_) This reverts commit d2ecdfe4c58cb4544c9a3ee84947b36b7ee54421. - * add pcd file check (`#1232 `_) + * add pcd file check (`#1232 `_) * add pcd file check * add space * add & * use namespace - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Map components (`#1311 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Map components (`#1311 `_) * Make pointcloud map loader component * Make lanelet2 map loader component * Make map tf generator component @@ -841,13 +841,13 @@ Changelog for package map_loader * Fix license * Add comment for filesystem * Fix variable name for glob - * Fix dependency for query (`#1519 `_) - * Fix a small bug (`#1644 `_) - * Fix minor flaws detected by Clang-Tidy (`#1647 `_) + * Fix dependency for query (`#1519 `_) + * Fix a small bug (`#1644 `_) + * Fix minor flaws detected by Clang-Tidy (`#1647 `_) - misc-throw-by-value-catch-by-reference - cppcoreguidelines-init-variables - readability-isolate-declaration - * Add pre-commit (`#1560 `_) + * Add pre-commit (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -867,8 +867,8 @@ Changelog for package map_loader Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Porting traffic light viz (`#1284 `_) - * Feature/traffic light viz (`#1001 `_) + * Porting traffic light viz (`#1284 `_) + * Feature/traffic light viz (`#1001 `_) * add tl map viz * bug fix * update map visualizer @@ -882,12 +882,12 @@ Changelog for package map_loader * Replace deprecated duration api Co-authored-by: Yukihiro Saito Co-authored-by: wep21 - * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier (`#1661 `_) * Add markdownlint and prettier * Ignore .param.yaml * Apply format - * Feature/compare elevation map (`#1488 `_) - * suppress warnings for declare parameters (`#1724 `_) + * Feature/compare elevation map (`#1488 `_) + * suppress warnings for declare parameters (`#1724 `_) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor @@ -906,7 +906,7 @@ Changelog for package map_loader * add Werror * add Werror * fix style - * suppress warnings for map (`#1773 `_) + * suppress warnings for map (`#1773 `_) * add compile option * fix error * add compile option @@ -919,30 +919,30 @@ Changelog for package map_loader * use U * use U Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Fix clang warnings (`#1859 `_) + * Fix clang warnings (`#1859 `_) * Fix -Wreturn-std-move * Fix -Wunused-private-field * Ignore -Wnonportable-include-path for mussp * Fix -Wunused-const-variable * Fix "can not be used when making a shared object" - * Sync v1.3.0 (`#1909 `_) - * Add elevation_map to autoware_state_monitor (`#1907 `_) - * Disable saving elevation map temporarily (`#1906 `_) - * Fix typos in README of map_loader (`#1923 `_) + * Sync v1.3.0 (`#1909 `_) + * Add elevation_map to autoware_state_monitor (`#1907 `_) + * Disable saving elevation map temporarily (`#1906 `_) + * Fix typos in README of map_loader (`#1923 `_) * Fix typos in README of map_loader * Apply Prettier - * fix some typos (`#1941 `_) + * fix some typos (`#1941 `_) * fix some typos * fix typo * Fix typo Co-authored-by: Kenji Miyake - * Add autoware api (`#1979 `_) - * Invoke code formatter at pre-commit (`#1935 `_) + * Add autoware api (`#1979 `_) + * Invoke code formatter at pre-commit (`#1935 `_) * Run ament_uncrustify at pre-commit * Reformat existing files * Fix copyright and cpplint errors Co-authored-by: Kenji Miyake - * Save elevation_map with pcd md5sum (`#1988 `_) + * Save elevation_map with pcd md5sum (`#1988 `_) * Save elevation_map with pcd md5sum * Update sample launch * Fix cpplint @@ -969,10 +969,10 @@ Changelog for package map_loader * Add isPcdFile * Fix pre-commit * Use icPcdFile when giving file of pcd - * Feature/add virtual traffic light planner (`#1588 `_) - * Fix deprecated constant of transient local (`#1994 `_) - * Fix lint errors in lanelet2_extension (`#2028 `_) - * add sort-package-xml hook in pre-commit (`#1881 `_) + * Feature/add virtual traffic light planner (`#1588 `_) + * Fix deprecated constant of transient local (`#1994 `_) + * Fix lint errors in lanelet2_extension (`#2028 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -986,27 +986,27 @@ Changelog for package map_loader * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Revert "[map_loader] modify colors for lane markers for better visualization (`#398 `_)" (`#2063 `_) + * Revert "[map_loader] modify colors for lane markers for better visualization (`#398 `_)" (`#2063 `_) This reverts commit 046dc9a770bf03fb8813ddf6aa1b2f05e9357b67. - * Fix elevation_map_loader downsample (`#2055 `_) - * Add elevation_map data dir (`#2093 `_) - * Minor fixes of map_loader's README (`#2116 `_) + * Fix elevation_map_loader downsample (`#2055 `_) + * Add elevation_map data dir (`#2093 `_) + * Minor fixes of map_loader's README (`#2116 `_) * Minor fixes of map_loader's README * Fix map_loader run command Co-authored-by: kosuke55 - * Fix elevation_map hash due to mutiple slashes of pcd path (`#2192 `_) + * Fix elevation_map hash due to mutiple slashes of pcd path (`#2192 `_) * Fix elevation_map hash due to mutiple slashes of pcd path * Use filesystem lexically_normal - * Fix broken links of images on lanelet2_extension docs (`#2206 `_) - * Add lanelet XML API (`#2262 `_) - * show traffic light id marker (`#1554 `_) (`#1678 `_) + * Fix broken links of images on lanelet2_extension docs (`#2206 `_) + * Add lanelet XML API (`#2262 `_) + * show traffic light id marker (`#1554 `_) (`#1678 `_) * show traffic light id * fix typo Co-authored-by: satoshi-ota Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota - * Feature/porting behavior path planner (`#1645 `_) - * Add behavior path planner pkg with Lane Change (`#1525 `_) + * Feature/porting behavior path planner (`#1645 `_) + * Add behavior path planner pkg with Lane Change (`#1525 `_) * add lanelet extension funcs * add planning msgs for FOA * add behavior_path_planner pkg @@ -1022,7 +1022,7 @@ Changelog for package map_loader * add build depend for behavior tree cpp * temporally disable lint test in lanelet2_extension Co-authored-by: rej55 - * Add avoidance module in behavior_path_planner (`#1528 `_) + * Add avoidance module in behavior_path_planner (`#1528 `_) * Revert "remove shide-shift & avoidance related files" This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. * refactor findNewShiftPoint func @@ -1046,41 +1046,41 @@ Changelog for package map_loader - fix typo * fix typo Co-authored-by: Yukihiro Saito - * Replace behavior_path utilities with autoware_utils (`#1532 `_) + * Replace behavior_path utilities with autoware_utils (`#1532 `_) * replace calcDistance * replace arange * replave convertToEigenPt with autoware_utils::fromMsg * replace normalizeRadian * cosmetic change - * import `#1526 `_ into behavior path planner (`#1531 `_) - * Fix/behavior path empty path output guard (`#1536 `_) + * import `#1526 `_ into behavior path planner (`#1531 `_) + * Fix/behavior path empty path output guard (`#1536 `_) * add guard * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp - * fix lateral jerk calculation (`#1549 `_) - * fix: error handling on exception in behavior_path_planner (`#1551 `_) - * Fix ignore too steep avoidance path (`#1550 `_) + * fix lateral jerk calculation (`#1549 `_) + * fix: error handling on exception in behavior_path_planner (`#1551 `_) + * Fix ignore too steep avoidance path (`#1550 `_) * ignore too steep path * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp * parametrize lateral jerk limit * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp Co-authored-by: tkimura4 Co-authored-by: tkimura4 - * use offsetNoThrow and add error log (`#1615 `_) - * Ignore object ahead goal for avoidance (`#1618 `_) + * use offsetNoThrow and add error log (`#1615 `_) + * Ignore object ahead goal for avoidance (`#1618 `_) * Ignore object ahead goal for avoidance * Add flag * Fix position of definition of goal_pose * Fix arclength calculation * Fix position of definition of goal_pose - * fix intersection stop line (`#1636 `_) + * fix intersection stop line (`#1636 `_) * fix intersection stop line * fix typo - * add document (`#1635 `_) + * add document (`#1635 `_) * Port behavior path planner to ros2 * Apply lint * Fix typo * Fix map qos - * debug slope calculation in behavior (`#1566 `_) + * debug slope calculation in behavior (`#1566 `_) * update * update * revert change of autoware_utils @@ -1113,17 +1113,17 @@ Changelog for package map_loader Co-authored-by: Yukihiro Saito Co-authored-by: tkimura4 Co-authored-by: Takayuki Murooka - * change type of traffic light marker (SPHERE_LIST->SPHERE) (`#1789 `_) - * fix alpha (`#1797 `_) - * Feature/improve intersection detection area (`#1958 `_) + * change type of traffic light marker (SPHERE_LIST->SPHERE) (`#1789 `_) + * fix alpha (`#1797 `_) + * Feature/improve intersection detection area (`#1958 `_) * exclude ego_lanes from detection_area * add empty handling * remove unused function * Fix for uncrustify Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Apply format (`#1999 `_) + * Apply format (`#1999 `_) Fix cpplint - * Feature/expand drivable area (`#1812 `_) + * Feature/expand drivable area (`#1812 `_) * check if ego lane has adjacent lane or not * expand drivable area by using lanelet * remove unnecessary operator @@ -1136,7 +1136,7 @@ Changelog for package map_loader * update area name * disable expand by default Co-authored-by: satoshi-ota - * add shoulder road lanelets (`#2121 `_) + * add shoulder road lanelets (`#2121 `_) * add shoulder lanelets * Update map/lanelet2_extension/lib/query.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> @@ -1149,7 +1149,7 @@ Changelog for package map_loader * Update map/lanelet2_extension/lib/visualization.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * Feature/no stopping area reg element (`#2144 `_) + * Feature/no stopping area reg element (`#2144 `_) * add no stopping area to ll2 * add no stopping area visualization * add no stopping area marker to RVIZ @@ -1157,7 +1157,7 @@ Changelog for package map_loader * Update map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 - * Add document for new map format (`#1778 `_) + * Add document for new map format (`#1778 `_) * add roadside lane doc * fix typo * fix typo @@ -1167,7 +1167,7 @@ Changelog for package map_loader * add reason for new subtype definition * fix typo Co-authored-by: kyoichi - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -1179,14 +1179,14 @@ Changelog for package map_loader * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * port lanelet2_extension (`#483 `_) + * Add COLCON_IGNORE (`#500 `_) + * port lanelet2_extension (`#483 `_) * port with auto_msgs * remove COLCON_IGNORE Co-authored-by: Takayuki Murooka - * port map loader (`#508 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) - * add readme (`#561 `_) + * port map loader (`#508 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * add readme (`#561 `_) * fix old description Co-authored-by: mitsudome-r Co-authored-by: Taichi Higashide diff --git a/map/map_loader/CMakeLists.txt b/map/autoware_map_loader/CMakeLists.txt similarity index 84% rename from map/map_loader/CMakeLists.txt rename to map/autoware_map_loader/CMakeLists.txt index 115f7e5b17464..9f8f8681488aa 100644 --- a/map/map_loader/CMakeLists.txt +++ b/map/autoware_map_loader/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(map_loader) +project(autoware_map_loader) find_package(autoware_cmake REQUIRED) autoware_package() @@ -23,8 +23,8 @@ target_include_directories(pointcloud_map_loader_node ) rclcpp_components_register_node(pointcloud_map_loader_node - PLUGIN "PointCloudMapLoaderNode" - EXECUTABLE pointcloud_map_loader + PLUGIN "autoware::map_loader::PointCloudMapLoaderNode" + EXECUTABLE autoware_pointcloud_map_loader ) ament_auto_add_library(lanelet2_map_loader_node SHARED @@ -32,17 +32,8 @@ ament_auto_add_library(lanelet2_map_loader_node SHARED ) rclcpp_components_register_node(lanelet2_map_loader_node - PLUGIN "Lanelet2MapLoaderNode" - EXECUTABLE lanelet2_map_loader -) - -ament_auto_add_library(lanelet2_map_visualization_node SHARED - src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp -) - -rclcpp_components_register_node(lanelet2_map_visualization_node - PLUGIN "Lanelet2MapVisualizationNode" - EXECUTABLE lanelet2_map_visualization + PLUGIN "autoware::map_loader::Lanelet2MapLoaderNode" + EXECUTABLE autoware_lanelet2_map_loader ) if(BUILD_TESTING) diff --git a/map/map_loader/README.md b/map/autoware_map_loader/README.md similarity index 91% rename from map/map_loader/README.md rename to map/autoware_map_loader/README.md index bc3eb80d80339..046c9062081ca 100644 --- a/map/map_loader/README.md +++ b/map/autoware_map_loader/README.md @@ -1,4 +1,4 @@ -# map_loader package +# autoware_map_loader package This package provides the features of loading various maps. @@ -111,7 +111,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co ### Parameters -{{ json_to_markdown("map/map_loader/schema/pointcloud_map_loader.schema.json") }} +{{ json_to_markdown("map/autoware_map_loader/schema/pointcloud_map_loader.schema.json") }} ### Interfaces @@ -136,7 +136,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie ### How to run -`ros2 run map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm` +`ros2 run autoware_map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm` ### Subscribed Topics @@ -148,27 +148,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie ### Parameters -{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }} +{{ json_to_markdown("map/autoware_map_loader/schema/lanelet2_map_loader.schema.json") }} `use_waypoints` decides how to handle a centerline. This flag enables to use the `overwriteLaneletsCenterlineWithWaypoints` function instead of `overwriteLaneletsCenterline`. Please see [the document of the autoware_lanelet2_extension package](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md#centerline) in detail. - ---- - -## lanelet2_map_visualization - -### Feature - -lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray. - -### How to Run - -`ros2 run map_loader lanelet2_map_visualization` - -### Subscribed Topics - -- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map - -### Published Topics - -- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz diff --git a/map/map_loader/config/lanelet2_map_loader.param.yaml b/map/autoware_map_loader/config/lanelet2_map_loader.param.yaml similarity index 100% rename from map/map_loader/config/lanelet2_map_loader.param.yaml rename to map/autoware_map_loader/config/lanelet2_map_loader.param.yaml diff --git a/map/map_loader/config/pointcloud_map_loader.param.yaml b/map/autoware_map_loader/config/pointcloud_map_loader.param.yaml similarity index 100% rename from map/map_loader/config/pointcloud_map_loader.param.yaml rename to map/autoware_map_loader/config/pointcloud_map_loader.param.yaml diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp similarity index 88% rename from map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp rename to map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp index 2d3fbfb2a140f..54d8244ff76e0 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ -#define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#ifndef AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#define AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ #include #include @@ -28,6 +28,8 @@ #include #include +namespace autoware::map_loader +{ class Lanelet2MapLoaderNode : public rclcpp::Node { public: @@ -52,5 +54,6 @@ class Lanelet2MapLoaderNode : public rclcpp::Node sub_map_projector_info_; rclcpp::Publisher::SharedPtr pub_map_bin_; }; +} // namespace autoware::map_loader -#endif // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#endif // AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ diff --git a/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml b/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml new file mode 100644 index 0000000000000..48f92550fe404 --- /dev/null +++ b/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/map/map_loader/launch/pointcloud_map_loader.launch.xml b/map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml similarity index 73% rename from map/map_loader/launch/pointcloud_map_loader.launch.xml rename to map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml index 3633a8fa39a6b..314b3082efff8 100644 --- a/map/map_loader/launch/pointcloud_map_loader.launch.xml +++ b/map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/map/map_loader/package.xml b/map/autoware_map_loader/package.xml similarity index 94% rename from map/map_loader/package.xml rename to map/autoware_map_loader/package.xml index 54cfdcb2b07d3..15fc9fd13df64 100644 --- a/map/map_loader/package.xml +++ b/map/autoware_map_loader/package.xml @@ -1,9 +1,9 @@ - map_loader + autoware_map_loader 0.38.0 - The map_loader package + The autoware_map_loader package Yamato Ando Ryu Yamamoto Masahiro Sakamoto diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/autoware_map_loader/schema/lanelet2_map_loader.schema.json similarity index 100% rename from map/map_loader/schema/lanelet2_map_loader.schema.json rename to map/autoware_map_loader/schema/lanelet2_map_loader.schema.json diff --git a/map/map_loader/schema/pointcloud_map_loader.schema.json b/map/autoware_map_loader/schema/pointcloud_map_loader.schema.json similarity index 100% rename from map/map_loader/schema/pointcloud_map_loader.schema.json rename to map/autoware_map_loader/schema/pointcloud_map_loader.schema.json diff --git a/map/map_loader/script/map_hash_generator b/map/autoware_map_loader/script/map_hash_generator similarity index 100% rename from map/map_loader/script/map_hash_generator rename to map/autoware_map_loader/script/map_hash_generator diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp similarity index 64% rename from map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp rename to map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp index d73ec0d1ee06e..66b0231c01fd4 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp +++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp @@ -17,25 +17,24 @@ #include -namespace lanelet::projection +namespace autoware::map_loader { -class LocalProjector : public Projector +class LocalProjector : public lanelet::Projector { public: - LocalProjector() : Projector(Origin(GPSPoint{})) {} + LocalProjector() : Projector(lanelet::Origin(lanelet::GPSPoint{})) {} - BasicPoint3d forward(const GPSPoint & gps) const override // NOLINT + lanelet::BasicPoint3d forward(const lanelet::GPSPoint & gps) const override // NOLINT { - return BasicPoint3d{0.0, 0.0, gps.ele}; + return lanelet::BasicPoint3d{0.0, 0.0, gps.ele}; } - [[nodiscard]] GPSPoint reverse(const BasicPoint3d & point) const override + [[nodiscard]] lanelet::GPSPoint reverse(const lanelet::BasicPoint3d & point) const override { - return GPSPoint{0.0, 0.0, point.z()}; + return lanelet::GPSPoint{0.0, 0.0, point.z()}; } }; - -} // namespace lanelet::projection +} // namespace autoware::map_loader #endif // LANELET2_MAP_LOADER__LANELET2_LOCAL_PROJECTOR_HPP_ diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp similarity index 96% rename from map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp rename to map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index c2334d4589f27..ee1cc4a58a1be 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -31,7 +31,7 @@ * */ -#include "map_loader/lanelet2_map_loader_node.hpp" +#include "autoware/map_loader/lanelet2_map_loader_node.hpp" #include "lanelet2_local_projector.hpp" @@ -52,6 +52,8 @@ #include #include +namespace autoware::map_loader +{ using autoware_map_msgs::msg::LaneletMapBin; using tier4_map_msgs::msg::MapProjectorInfo; @@ -145,7 +147,7 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( return map; } } else { - const lanelet::projection::LocalProjector projector; + const autoware::map_loader::LocalProjector projector; lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors); if (!errors.empty()) { @@ -199,6 +201,7 @@ LaneletMapBin Lanelet2MapLoaderNode::create_map_bin_msg( return map_bin_msg; } +} // namespace autoware::map_loader #include -RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapLoaderNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_loader::Lanelet2MapLoaderNode) diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp similarity index 98% rename from map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index da42389dcc69f..160c6f876138d 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -16,6 +16,8 @@ #include +namespace autoware::map_loader +{ DifferentialMapLoaderModule::DifferentialMapLoaderModule( rclcpp::Node * node, std::map pcd_file_metadata_dict) : logger_(node->get_logger()), all_pcd_file_metadata_dict_(std::move(pcd_file_metadata_dict)) @@ -89,3 +91,4 @@ DifferentialMapLoaderModule::load_point_cloud_map_cell_with_id( pointcloud_map_cell_with_id.cell_id = map_id; return pointcloud_map_cell_with_id; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp index 690ffeca653c8..5c51e7f6206d6 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp @@ -32,6 +32,8 @@ #include #include +namespace autoware::map_loader +{ class DifferentialMapLoaderModule { using GetDifferentialPointCloudMap = autoware_map_msgs::srv::GetDifferentialPointCloudMap; @@ -55,5 +57,6 @@ class DifferentialMapLoaderModule [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__DIFFERENTIAL_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp similarity index 97% rename from map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp index 62e165dd1005b..afa3da7b82b2d 100644 --- a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp @@ -16,6 +16,8 @@ #include +namespace autoware::map_loader +{ PartialMapLoaderModule::PartialMapLoaderModule( rclcpp::Node * node, std::map pcd_file_metadata_dict) : logger_(node->get_logger()), all_pcd_file_metadata_dict_(std::move(pcd_file_metadata_dict)) @@ -76,3 +78,4 @@ PartialMapLoaderModule::load_point_cloud_map_cell_with_id( pointcloud_map_cell_with_id.cell_id = map_id; return pointcloud_map_cell_with_id; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp index ec97661366419..6660c56ade759 100644 --- a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp @@ -32,6 +32,8 @@ #include #include +namespace autoware::map_loader +{ class PartialMapLoaderModule { using GetPartialPointCloudMap = autoware_map_msgs::srv::GetPartialPointCloudMap; @@ -55,5 +57,6 @@ class PartialMapLoaderModule [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__PARTIAL_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp similarity index 97% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp index 1754d0b7629a2..0b6521f69ca09 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp @@ -21,6 +21,8 @@ #include #include +namespace autoware::map_loader +{ sensor_msgs::msg::PointCloud2 downsample( const sensor_msgs::msg::PointCloud2 & msg_input, const float leaf_size) { @@ -99,3 +101,4 @@ sensor_msgs::msg::PointCloud2 PointcloudMapLoaderModule::load_pcd_files( return whole_pcd; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp similarity index 95% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp index 44f23ded70e37..59145265ecdb4 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp @@ -28,6 +28,8 @@ #include #include +namespace autoware::map_loader +{ class PointcloudMapLoaderModule { public: @@ -42,5 +44,6 @@ class PointcloudMapLoaderModule [[nodiscard]] sensor_msgs::msg::PointCloud2 load_pcd_files( const std::vector & pcd_paths, const boost::optional leaf_size) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp similarity index 97% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp index c718b25c56694..2500d96650ae3 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp @@ -24,6 +24,8 @@ #include #include +namespace autoware::map_loader +{ namespace fs = std::filesystem; namespace @@ -145,6 +147,7 @@ std::vector PointCloudMapLoaderNode::get_pcd_paths( } return pcd_paths; } +} // namespace autoware::map_loader #include -RCLCPP_COMPONENTS_REGISTER_NODE(PointCloudMapLoaderNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_loader::PointCloudMapLoaderNode) diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp index dbc0d584d347b..251575d7d6424 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp @@ -33,6 +33,8 @@ #include #include +namespace autoware::map_loader +{ class PointCloudMapLoaderNode : public rclcpp::Node { public: @@ -50,5 +52,6 @@ class PointCloudMapLoaderNode : public rclcpp::Node std::map get_pcd_metadata( const std::string & pcd_metadata_path, const std::vector & pcd_paths) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_NODE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp similarity index 98% rename from map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp index 76b56341b8632..082d1f545dc14 100644 --- a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp @@ -15,7 +15,8 @@ #include "selected_map_loader_module.hpp" #include -namespace + +namespace autoware::map_loader { autoware_map_msgs::msg::PointCloudMapMetaData create_metadata( const std::map & pcd_file_metadata_dict) @@ -42,7 +43,6 @@ autoware_map_msgs::msg::PointCloudMapMetaData create_metadata( return metadata_msg; } -} // namespace SelectedMapLoaderModule::SelectedMapLoaderModule( rclcpp::Node * node, std::map pcd_file_metadata_dict) @@ -107,3 +107,4 @@ SelectedMapLoaderModule::load_point_cloud_map_cell_with_id( pointcloud_map_cell_with_id.cell_id = map_id; return pointcloud_map_cell_with_id; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp index eea8b8c1950ae..bc07543d7a6be 100644 --- a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp @@ -33,6 +33,8 @@ #include #include +namespace autoware::map_loader +{ class SelectedMapLoaderModule { using GetSelectedPointCloudMap = autoware_map_msgs::srv::GetSelectedPointCloudMap; @@ -55,5 +57,6 @@ class SelectedMapLoaderModule [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__SELECTED_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/utils.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp similarity index 98% rename from map/map_loader/src/pointcloud_map_loader/utils.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp index ea2c2e7033014..172d462947548 100644 --- a/map/map_loader/src/pointcloud_map_loader/utils.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp @@ -20,6 +20,8 @@ #include #include +namespace autoware::map_loader +{ std::map load_pcd_metadata(const std::string & pcd_metadata_path) { YAML::Node config = YAML::LoadFile(pcd_metadata_path); @@ -107,3 +109,4 @@ bool is_grid_within_queried_area( cylinder_and_box_overlap_exists(center_x, center_y, radius, metadata.min, metadata.max); return res; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/utils.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/utils.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp index 07e8ade5c6f7c..7a3cec7fcc14a 100644 --- a/map/map_loader/src/pointcloud_map_loader/utils.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp @@ -26,6 +26,8 @@ #include #include +namespace autoware::map_loader +{ struct PCDFileMetadata { pcl::PointXYZ min; @@ -48,4 +50,6 @@ bool cylinder_and_box_overlap_exists( bool is_grid_within_queried_area( const autoware_map_msgs::msg::AreaInfo area, const PCDFileMetadata metadata); +} // namespace autoware::map_loader + #endif // POINTCLOUD_MAP_LOADER__UTILS_HPP_ diff --git a/map/map_loader/test/data/test_map.osm b/map/autoware_map_loader/test/data/test_map.osm similarity index 100% rename from map/map_loader/test/data/test_map.osm rename to map/autoware_map_loader/test/data/test_map.osm diff --git a/map/map_loader/test/lanelet2_map_loader_launch.test.py b/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py similarity index 91% rename from map/map_loader/test/lanelet2_map_loader_launch.test.py rename to map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py index 0a29a74e90b06..14f05b1938b61 100644 --- a/map/map_loader/test/lanelet2_map_loader_launch.test.py +++ b/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py @@ -28,12 +28,12 @@ @pytest.mark.launch_test def generate_test_description(): lanelet2_map_path = os.path.join( - get_package_share_directory("map_loader"), "test/data/test_map.osm" + get_package_share_directory("autoware_map_loader"), "test/data/test_map.osm" ) lanelet2_map_loader = Node( - package="map_loader", - executable="lanelet2_map_loader", + package="autoware_map_loader", + executable="autoware_lanelet2_map_loader", parameters=[ { "lanelet2_map_path": lanelet2_map_path, diff --git a/map/map_loader/test/test_cylinder_box_overlap.cpp b/map/autoware_map_loader/test/test_cylinder_box_overlap.cpp similarity index 97% rename from map/map_loader/test/test_cylinder_box_overlap.cpp rename to map/autoware_map_loader/test/test_cylinder_box_overlap.cpp index d8ca2ca9f8734..6ab0c0a309be0 100644 --- a/map/map_loader/test/test_cylinder_box_overlap.cpp +++ b/map/autoware_map_loader/test/test_cylinder_box_overlap.cpp @@ -16,6 +16,8 @@ #include +using autoware::map_loader::cylinder_and_box_overlap_exists; + TEST(CylinderAndBoxOverlapExists, NoOverlap) { // Cylinder: center = (5, 0), radius = 4 - 0.1 diff --git a/map/map_loader/test/test_differential_map_loader_module.cpp b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp similarity index 94% rename from map/map_loader/test/test_differential_map_loader_module.cpp rename to map/autoware_map_loader/test/test_differential_map_loader_module.cpp index e25a8f97a70ca..cd9b670b32fd3 100644 --- a/map/map_loader/test/test_differential_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp @@ -23,6 +23,7 @@ #include +using autoware::map_loader::DifferentialMapLoaderModule; using autoware_map_msgs::srv::GetDifferentialPointCloudMap; class TestDifferentialMapLoaderModule : public ::testing::Test @@ -45,8 +46,8 @@ class TestDifferentialMapLoaderModule : public ::testing::Test pcl::io::savePCDFileASCII("/tmp/dummy.pcd", dummy_cloud); // Generate a sample dummy pointcloud metadata dictionary - std::map dummy_metadata_dict; - PCDFileMetadata dummy_metadata; + std::map dummy_metadata_dict; + autoware::map_loader::PCDFileMetadata dummy_metadata; dummy_metadata.min = pcl::PointXYZ(-1.0, -1.0, -1.0); dummy_metadata.max = pcl::PointXYZ(1.0, 1.0, 1.0); dummy_metadata_dict["/tmp/dummy.pcd"] = dummy_metadata; diff --git a/map/map_loader/test/test_load_pcd_metadata.cpp b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp similarity index 90% rename from map/map_loader/test/test_load_pcd_metadata.cpp rename to map/autoware_map_loader/test/test_load_pcd_metadata.cpp index fcec100f389c5..dc23c3a9fb2d6 100644 --- a/map/map_loader/test/test_load_pcd_metadata.cpp +++ b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp @@ -39,12 +39,12 @@ TEST(LoadPCDMetadataTest, BasicFunctionality) { std::string yaml_file_path = create_yaml_file(); - std::map expected = { + std::map expected = { {"file1.pcd", {{1, 2, 0}, {6, 8, 0}}}, {"file2.pcd", {{3, 4, 0}, {8, 10, 0}}}, }; - auto result = load_pcd_metadata(yaml_file_path); + auto result = autoware::map_loader::load_pcd_metadata(yaml_file_path); ASSERT_THAT(result, ContainerEq(expected)); } diff --git a/map/map_loader/test/test_partial_map_loader_module.cpp b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp similarity index 94% rename from map/map_loader/test/test_partial_map_loader_module.cpp rename to map/autoware_map_loader/test/test_partial_map_loader_module.cpp index 9ff27df29ab8b..fd25b600c81af 100644 --- a/map/map_loader/test/test_partial_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp @@ -22,6 +22,7 @@ #include +using autoware::map_loader::PartialMapLoaderModule; using autoware_map_msgs::srv::GetPartialPointCloudMap; class TestPartialMapLoaderModule : public ::testing::Test @@ -44,8 +45,8 @@ class TestPartialMapLoaderModule : public ::testing::Test pcl::io::savePCDFileASCII("/tmp/dummy.pcd", dummy_cloud); // Generate a sample dummy pointcloud metadata dictionary - std::map dummy_metadata_dict; - PCDFileMetadata dummy_metadata; + std::map dummy_metadata_dict; + autoware::map_loader::PCDFileMetadata dummy_metadata; dummy_metadata.min = pcl::PointXYZ(-1.0, -1.0, -1.0); dummy_metadata.max = pcl::PointXYZ(1.0, 1.0, 1.0); dummy_metadata_dict["/tmp/dummy.pcd"] = dummy_metadata; diff --git a/map/map_loader/test/test_pointcloud_map_loader_module.cpp b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp similarity index 96% rename from map/map_loader/test/test_pointcloud_map_loader_module.cpp rename to map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp index 5667f476b4dab..d61839d5abfc8 100644 --- a/map/map_loader/test/test_pointcloud_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp @@ -65,7 +65,8 @@ TEST_F(TestPointcloudMapLoaderModule, LoadPCDFilesNoDownsampleTest) std::vector pcd_paths = {temp_pcd_path}; // Create PointcloudMapLoaderModule instance - PointcloudMapLoaderModule loader(node.get(), pcd_paths, "pointcloud_map_no_downsample", false); + autoware::map_loader::PointcloudMapLoaderModule loader( + node.get(), pcd_paths, "pointcloud_map_no_downsample", false); // Create a subscriber to the published pointcloud topic auto pointcloud_received = std::make_shared(false); diff --git a/map/map_loader/test/test_replace_with_absolute_path.cpp b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp similarity index 95% rename from map/map_loader/test/test_replace_with_absolute_path.cpp rename to map/autoware_map_loader/test/test_replace_with_absolute_path.cpp index 03d533d41cf18..e8ccfbd5fb9f4 100644 --- a/map/map_loader/test/test_replace_with_absolute_path.cpp +++ b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp @@ -17,6 +17,8 @@ #include #include +using autoware::map_loader::PCDFileMetadata; +using autoware::map_loader::replace_with_absolute_path; using ::testing::ContainerEq; TEST(ReplaceWithAbsolutePathTest, BasicFunctionality) diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst index dbd1efbcae57f..40041fa24cda2 100644 --- a/map/autoware_map_projection_loader/CHANGELOG.rst +++ b/map/autoware_map_projection_loader/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_map_projection_loader 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) * add autoware\_ prefix * add autoware\_ prefix --------- diff --git a/map/autoware_map_projection_loader/README.md b/map/autoware_map_projection_loader/README.md index 11246c092231e..2568bb2c17df7 100644 --- a/map/autoware_map_projection_loader/README.md +++ b/map/autoware_map_projection_loader/README.md @@ -11,7 +11,7 @@ This is necessary information especially when you want to convert from global (g ## Map projector info file specification -You need to provide a YAML file, namely `map_projector_info.yaml` under the `map_path` directory. For `pointcloud_map_metadata.yaml`, please refer to the Readme of `map_loader`. +You need to provide a YAML file, namely `map_projector_info.yaml` under the `map_path` directory. For `pointcloud_map_metadata.yaml`, please refer to the Readme of `autoware_map_loader`. ```bash sample-map-rosbag diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst index fd9a0360a0284..d8c2ebdd75145 100644 --- a/map/autoware_map_tf_generator/CHANGELOG.rst +++ b/map/autoware_map_tf_generator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_map_tf_generator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) +* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) * add autoware\_ prefix * add autoware\_ prefix --------- diff --git a/map/map_loader/launch/lanelet2_map_loader.launch.xml b/map/map_loader/launch/lanelet2_map_loader.launch.xml deleted file mode 100644 index 5baee911d6572..0000000000000 --- a/map/map_loader/launch/lanelet2_map_loader.launch.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst index 6051765a9b450..2c30ebf81ee43 100644 --- a/perception/autoware_bytetrack/CHANGELOG.rst +++ b/perception/autoware_bytetrack/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_bytetrack 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,13 +13,13 @@ Changelog for package autoware_bytetrack --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) * refactor(kalman_filter): prefix package and namespace with autoware * move headers to include/autoware/ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(bytetrack): fix namespace and directory structure (`#8125 `_) +* refactor(bytetrack): fix namespace and directory structure (`#8125 `_) * chore: fix namespace * chore: change include name * refactor: rename perception/bytetrack to perception/autoware_bytetrack diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst index d429149c17931..a304c9a878d5d 100644 --- a/perception/autoware_cluster_merger/CHANGELOG.rst +++ b/perception/autoware_cluster_merger/CHANGELOG.rst @@ -5,13 +5,13 @@ Changelog for package autoware_cluster_merger 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* chore(cluster_merger): add node test (`#8810 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* chore(cluster_merger): add node test (`#8810 `_) * chore(cluster_merger): add node test * fix: rename output topic --------- -* refactor(cluster_merger): remove unused variable and rename topic (`#8809 `_) -* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) +* refactor(cluster_merger): remove unused variable and rename topic (`#8809 `_) +* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, badai nguyen 0.26.0 (2024-04-03) diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst index 2645c18599fda..70674495527e7 100644 --- a/perception/autoware_compare_map_segmentation/CHANGELOG.rst +++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_compare_map_segmentation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) * refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation * style(pre-commit): autofix * include message_filters as SYSTEM * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(compare_map_segmentation): add missing mutex lock (`#9097 `_) +* fix(compare_map_segmentation): add missing mutex lock (`#9097 `_) * fix(compare_map_segmentation): missing mutux * chore: rename mutex\_ * fix: remove unnecessary mutex @@ -24,7 +24,7 @@ Changelog for package autoware_compare_map_segmentation * fix: memory ordering * fix: replace all static_map_loader_mutex\_ --------- -* fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader (`#9024 `_) +* fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader (`#9024 `_) * fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader * chore: typo * fix: launch @@ -33,34 +33,34 @@ Changelog for package autoware_compare_map_segmentation * fix: change to RCLCPP_ERROR --------- Co-authored-by: Yoshi Ri -* chore(compare_map_segmentation): add node tests (`#8907 `_) +* chore(compare_map_segmentation): add node tests (`#8907 `_) * chore(compare_map_segmentation): add test for voxel_based_compare_map_filter * feat: add test for other compare map filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_compare_map_segmentation): typo bug fix (`#8939 `_) +* fix(autoware_compare_map_segmentation): typo bug fix (`#8939 `_) fix(compare_map_filter): typo bug fix -* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8725 `_) +* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8725 `_) fix:unusedFunction -* fix(compare_map_segmentation): use squared distance to compare threshold (`#8744 `_) +* fix(compare_map_segmentation): use squared distance to compare threshold (`#8744 `_) fix: use square distance to compare threshold -* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8565 `_) +* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8565 `_) fix:unusedFunction -* fix(autoware_compare_map_segmentation): fix cppcheck warnings of functionStatic (`#8263 `_) +* fix(autoware_compare_map_segmentation): fix cppcheck warnings of functionStatic (`#8263 `_) * fix: deal with functionStatic warnings * fix: deal with functionStatic warnings * fix: remove unnecessary const * fix: build error --------- -* fix(autoware_compare_map_segmentation): fix uninitMemberVar (`#8338 `_) +* fix(autoware_compare_map_segmentation): fix uninitMemberVar (`#8338 `_) fix:uninitMemberVar -* fix(autoware_compare_map_segmentation): fix passedByValue (`#8233 `_) +* fix(autoware_compare_map_segmentation): fix passedByValue (`#8233 `_) fix:passedByValue -* fix(autoware_compare_map_segmentation): fix redundantInitialization warning (`#8226 `_) -* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) -* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* fix(autoware_compare_map_segmentation): fix redundantInitialization warning (`#8226 `_) +* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) +* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml index b7d497b704bb7..de3d97df91c6f 100644 --- a/perception/autoware_compare_map_segmentation/package.xml +++ b/perception/autoware_compare_map_segmentation/package.xml @@ -7,6 +7,7 @@ amc-nu Yukihiro Saito Dai Nguyen + Yoshi Ri Apache License 2.0 diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index 6e927db4e298b..b57874d7d3b24 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -311,7 +311,8 @@ VoxelGridDynamicMapLoader::VoxelGridDynamicMapLoader( RCLCPP_INFO(logger_, "service not available, waiting again ..."); } - const auto period_ns = rclcpp::Rate(timer_interval_ms).period(); + const auto period_ns = std::chrono::duration_cast( + std::chrono::milliseconds(timer_interval_ms)); timer_callback_group_ = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); map_update_timer_ = rclcpp::create_timer( node, node->get_clock(), period_ns, std::bind(&VoxelGridDynamicMapLoader::timer_callback, this), diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst index fd0a9dc22903e..fcff5c1964a10 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst +++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_crosswalk_traffic_light_estimator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_crosswalk_traffic_light_estimator): fix constVariableReference (`#8055 `_) +* fix(autoware_crosswalk_traffic_light_estimator): fix constVariableReference (`#8055 `_) fix:constVariableReference -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) +* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) Fixed a mistake when adding prefixes -* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) * add prefix to the codes change dir name update @@ -24,7 +24,7 @@ Changelog for package autoware_crosswalk_traffic_light_estimator * restore * poi --------- -* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) +* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) * add prefix * Contributors: Kosuke Takeuchi, SakodaShintaro, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, kobayu858 diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml index 86c50500cbfbc..abe5c65d3aa1d 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml @@ -7,6 +7,7 @@ Satoshi Ota Shunsuke Miura Tao Zhong + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst index efb2e19d328af..1c956f5ae6469 100644 --- a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst +++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst @@ -5,13 +5,13 @@ Changelog for package autoware_detected_object_feature_remover 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(autoware_detected_object_feature_remover): add unit testing for the node (`#8735 `_) +* test(autoware_detected_object_feature_remover): add unit testing for the node (`#8735 `_) * test: add unit testing for the node * test: update to run node testings with `ROS_DOMAIN_ID` isolation --------- -* chore(autoware_deteted_object_feature_remover): add code owners (`#8962 `_) +* chore(autoware_deteted_object_feature_remover): add code owners (`#8962 `_) Add yoshiri and kotaro as code owners of feature remover -* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) refactor(detected_object_feature_remover): add package name prefix of autoware\_ * Contributors: Kotaro Uetake, Yoshi Ri, Yutaka Kondo, badai nguyen diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst index 6321d6f6ef8cf..ee2a4c502e33e 100644 --- a/perception/autoware_detected_object_validation/CHANGELOG.rst +++ b/perception/autoware_detected_object_validation/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_detected_object_validation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(detected_object_validation): rework parameters (`#7750 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(detected_object_validation): rework parameters (`#7750 `_) * refactor(detected_object_validation): rework parameters * style(pre-commit): autofix * Update perception/detected_object_validation/schema/object_lanelet_filter.schema.json @@ -22,13 +22,13 @@ Changelog for package autoware_detected_object_validation * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_detected_object_validation): fix functionStatic (`#8482 `_) +* fix(autoware_detected_object_validation): fix functionStatic (`#8482 `_) fix:functionStatic -* fix(autoware_detected_object_validation): fix cppcheck warnings of functionStatic (`#8256 `_) +* fix(autoware_detected_object_validation): fix cppcheck warnings of functionStatic (`#8256 `_) fix: deal with functionStatic warnings -* fix(autoware_detected_object_validation): fix functionConst (`#8285 `_) +* fix(autoware_detected_object_validation): fix functionConst (`#8285 `_) fix: functionConst -* perf(autoware_detected_object_validation): reduce lanelet_filter processing time (`#8240 `_) +* perf(autoware_detected_object_validation): reduce lanelet_filter processing time (`#8240 `_) * add local r-tree for fast searching change to _func\_\_ add more debug @@ -46,7 +46,7 @@ Changelog for package autoware_detected_object_validation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter @@ -56,7 +56,7 @@ Changelog for package autoware_detected_object_validation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) refactor: rename detected_object_validation to autoware_detected_object_validation * Contributors: Batuhan Beytekin, Esteve Fernandez, Hayate TOBA, Masaki Baba, Taekjin LEE, Yoshi Ri, Yutaka Kondo, kobayu858, taisa1 diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp index 67713e86de71e..05020336bc759 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp @@ -44,7 +44,6 @@ namespace lanelet_filter { using autoware::universe_utils::LinearRing2d; using autoware::universe_utils::MultiPoint2d; -using autoware::universe_utils::Point2d; using autoware::universe_utils::Polygon2d; namespace bg = boost::geometry; diff --git a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp index e3889ae8f6513..090ca795289fa 100644 --- a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp +++ b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp @@ -30,6 +30,8 @@ #include #include +#include + namespace autoware::detected_object_validation { namespace obstacle_pointcloud @@ -54,10 +56,9 @@ size_t Validator::getThresholdPointCloud( object.kinematics.pose_with_covariance.pose.position.x, object.kinematics.pose_with_covariance.pose.position.y); size_t threshold_pc = std::clamp( - static_cast( + static_cast(std::lround( points_num_threshold_param_.min_points_and_distance_ratio.at(object_label_id) / - object_distance + - 0.5f), + object_distance)), static_cast(points_num_threshold_param_.min_points_num.at(object_label_id)), static_cast(points_num_threshold_param_.max_points_num.at(object_label_id))); return threshold_pc; diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst index 01bddc0164627..0671601742afb 100644 --- a/perception/autoware_detection_by_tracker/CHANGELOG.rst +++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst @@ -5,33 +5,33 @@ Changelog for package autoware_detection_by_tracker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) +* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) * add object based corrector * apply cppcheck suggestion * fix typo --------- Co-authored-by: Taekjin LEE -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_detection_by_tracker): fix cppcheck warning of functionStatic (`#8257 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_detection_by_tracker): fix cppcheck warning of functionStatic (`#8257 `_) fix: deal with functionStatic warnings Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix * fix: cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_detection_by_tracker): fix funcArgNamesDifferent (`#8076 `_) +* fix(autoware_detection_by_tracker): fix funcArgNamesDifferent (`#8076 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) * refactor(euclidean_cluster): add package name prefix of autoware\_ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) +* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) * Contributors: Esteve Fernandez, Masaki Baba, Yutaka Kondo, badai nguyen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst index 4165862eccbeb..cbf29b22a46be 100644 --- a/perception/autoware_elevation_map_loader/CHANGELOG.rst +++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_elevation_map_loader 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* fix(autoware_elevation_map_loader): fix functionConst (`#8293 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(autoware_elevation_map_loader): fix functionConst (`#8293 `_) fix: functionConst -* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst index 88ee59b8f189f..b62e10d3c224f 100644 --- a/perception/autoware_euclidean_cluster/CHANGELOG.rst +++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_euclidean_cluster 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) * feat: add parameter schema for crop box * chore: fix readme * chore: remove filter.param.yaml file @@ -14,7 +14,7 @@ Changelog for package autoware_euclidean_cluster * chore: fix schema description * chore: fix description of negative param --------- -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -28,7 +28,7 @@ Changelog for package autoware_euclidean_cluster --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) * refactor(euclidean_cluster): add package name prefix of autoware\_ * style(pre-commit): autofix --------- diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst index a9cf3a2817456..faa4e568eb906 100644 --- a/perception/autoware_ground_segmentation/CHANGELOG.rst +++ b/perception/autoware_ground_segmentation/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_ground_segmentation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation (`#9116 `_) +* feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation (`#9116 `_) * refactor: calculate local ground gradient in classifyPointCloudGridScan Calculate the local ground gradient by fitting a line to the ground grids in the classifyPointCloudGridScan function. This improves the accuracy of the gradient calculation and ensures more precise extrapolation of the ground height. * refactor: calculate local ground gradient in classifyPointCloudGridScan @@ -16,7 +16,7 @@ Changelog for package autoware_ground_segmentation * refactor: fix ground gradient calculation in checkContinuousGndGrid function --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_ground_segmentation): fix scan ground filter logic (`#9084 `_) +* fix(autoware_ground_segmentation): fix scan ground filter logic (`#9084 `_) * refactor: initialize gnd_grids in ScanGroundFilterComponent::initializeFirstGndGrids Initialize gnd_grids vector in the ScanGroundFilterComponent::initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This improves the efficiency of the function and ensures accurate grid initialization. * refactor: initialize gnd_grids vector in initializeFirstGndGrids function @@ -35,7 +35,7 @@ Changelog for package autoware_ground_segmentation * refactor: fix logic description comment --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_ground_segmentation): scan ground filter refactoring (`#9061 `_) +* chore(autoware_ground_segmentation): scan ground filter refactoring (`#9061 `_) * chore: Add comment classification logic for point cloud grid scan * chore: renamed horizontal angle to azimuth angle * chore: rename offset to data_index @@ -54,7 +54,7 @@ Changelog for package autoware_ground_segmentation * chore: reduce scope * refactor: align structure between convertPointcloud and convertPointcloudGridScan --------- -* feat(ground_segmentation): add time_keeper (`#8585 `_) +* feat(ground_segmentation): add time_keeper (`#8585 `_) * add time_keeper * add timekeeper option * add autoware_universe_utils @@ -63,17 +63,17 @@ Changelog for package autoware_ground_segmentation * remove debug code * remove some timekeeper and mod block comment --------- -* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) -* fix(ground-segmentation): missing ament_index_cpp dependency (`#8587 `_) -* fix(autoware_ground_segmentation): fix unusedFunction (`#8566 `_) +* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) +* fix(ground-segmentation): missing ament_index_cpp dependency (`#8587 `_) +* fix(autoware_ground_segmentation): fix unusedFunction (`#8566 `_) fix:unusedFunction -* fix(ground_segmentation): missing default parameters ERROR (`#8538 `_) +* fix(ground_segmentation): missing default parameters ERROR (`#8538 `_) fix(ground_segmentation): remove unused params -* fix(autoware_ground_segmentation): fix unreadVariable (`#8353 `_) +* fix(autoware_ground_segmentation): fix unreadVariable (`#8353 `_) * fix:unreadVariable * fix:unreadVariable --------- -* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) +* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) * perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners * fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic * fix(autoware_ground_segmentation): add missing TF listener @@ -83,11 +83,11 @@ Changelog for package autoware_ground_segmentation * fix(autoware_universe_utils): change checks order * doc(autoware_universe_utils): add docstring --------- -* fix(autoware_ground_segmentation): fix uninitMemberVar (`#8336 `_) +* fix(autoware_ground_segmentation): fix uninitMemberVar (`#8336 `_) fix:uninitMemberVar -* fix(autoware_ground_segmentation): fix functionConst (`#8291 `_) +* fix(autoware_ground_segmentation): fix functionConst (`#8291 `_) fix:functionConst -* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) +* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) * refactor(ground_segmentation): add package name prefix of autoware\_ * fix: update prefix cmake --------- diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst index 0fdbb970d2504..4a309a3e4dcff 100644 --- a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst +++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package autoware_image_projection_based_fusion 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* fix(autoware_image_projection_based_fusion): pointpainting bug fix for point projection (`#9150 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* fix(autoware_image_projection_based_fusion): pointpainting bug fix for point projection (`#9150 `_) fix: projected 2d point has 1.0 of depth -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_image_projection_based_fusion): roi cluster fusion has no existence probability update (`#8864 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_image_projection_based_fusion): roi cluster fusion has no existence probability update (`#8864 `_) fix: add existence probability update, refactoring -* fix(autoware_image_projection_based_fusion): resolve issue with segmentation pointcloud fusion node failing with multiple mask inputs (`#8769 `_) -* fix(image_projection_based_fusion): remove unused variable (`#8634 `_) +* fix(autoware_image_projection_based_fusion): resolve issue with segmentation pointcloud fusion node failing with multiple mask inputs (`#8769 `_) +* fix(image_projection_based_fusion): remove unused variable (`#8634 `_) fix: remove unused variable -* fix(autoware_image_projection_based_fusion): fix unusedFunction (`#8567 `_) +* fix(autoware_image_projection_based_fusion): fix unusedFunction (`#8567 `_) fix:unusedFunction -* fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion (`#7909 `_) +* fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion (`#7909 `_) * fix: add rle decompress * style(pre-commit): autofix * fix: use rld in tensorrt utils @@ -31,16 +31,16 @@ Changelog for package autoware_image_projection_based_fusion --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(image_projection_based_fusion): handle projection errors in image fusion nodes (`#7747 `_) +* fix(image_projection_based_fusion): handle projection errors in image fusion nodes (`#7747 `_) * fix: add check for camera distortion model * feat(utils): add const qualifier to local variables in checkCameraInfo function * style(pre-commit): autofix * chore(utils): update checkCameraInfo function to use RCLCPP_ERROR_STREAM for unsupported distortion model and coefficients size --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_image_projection_based_fusion): fix passedByValue (`#8234 `_) +* fix(autoware_image_projection_based_fusion): fix passedByValue (`#8234 `_) fix:passedByValue -* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) +* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) refactor: rename image_projection_based_fusion to autoware_image_projection_based_fusion * Contributors: Esteve Fernandez, Taekjin LEE, Yi-Hsiang Fang (Vivid), Yoshi Ri, Yutaka Kondo, badai nguyen, kobayu858 diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst index 4ea5334aa7a2e..08824ecfbd3aa 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst +++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_lidar_apollo_instance_segmentation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,14 +13,14 @@ Changelog for package autoware_lidar_apollo_instance_segmentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(autoware_lidar_apollo_instance_segmentation): added existence probability (`#8862 `_) +* fix(autoware_lidar_apollo_instance_segmentation): added existence probability (`#8862 `_) * added existence probability * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(lidar_apollo_instance_segmentation): fix critical bug (`#8444 `_) +* fix(lidar_apollo_instance_segmentation): fix critical bug (`#8444 `_) Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> -* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) +* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) * refactor: add autoware namespace prefix * chore: update CODEOWNERS * refactor: add `autoware` prefix diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst index 126064419329c..6809f690c75d1 100644 --- a/perception/autoware_lidar_centerpoint/CHANGELOG.rst +++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_lidar_centerpoint 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,19 +13,19 @@ Changelog for package autoware_lidar_centerpoint --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_lidar_centerpoint): fix twist covariance orientation (`#8996 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_lidar_centerpoint): fix twist covariance orientation (`#8996 `_) * fix(autoware_lidar_centerpoint): fix covariance converter considering the twist covariance matrix is based on the object coordinate fix style * fix: update test of box3DToDetectedObject function --------- -* fix(autoware_lidar_centerpoint): convert object's velocity to follow its definition (`#8980 `_) +* fix(autoware_lidar_centerpoint): convert object's velocity to follow its definition (`#8980 `_) * fix: convert object's velocity to follow its definition in box3DToDetectedObject function * Update perception/autoware_lidar_centerpoint/lib/ros_utils.cpp Co-authored-by: Kenzo Lobos Tsunekawa --------- Co-authored-by: Kenzo Lobos Tsunekawa -* feat(autoware_lidar_centerpoint): shuffled points before feeding them to the model (`#8814 `_) +* feat(autoware_lidar_centerpoint): shuffled points before feeding them to the model (`#8814 `_) * feat: shuffling points before feeding them into the model to achieve uniform sampling into the voxels * Update perception/autoware_lidar_centerpoint/src/node.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> @@ -37,20 +37,20 @@ Changelog for package autoware_lidar_centerpoint Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t (`#8820 `_) +* refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t (`#8820 `_) * refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_lidar_centerpoint): add centerpoint sigma parameter (`#8731 `_) +* chore(autoware_lidar_centerpoint): add centerpoint sigma parameter (`#8731 `_) add centerpoint sigma parameter -* fix(autoware_lidar_centerpoint): fix unusedFunction (`#8572 `_) +* fix(autoware_lidar_centerpoint): fix unusedFunction (`#8572 `_) fix:unusedFunction -* fix(autoware_lidar_centerpoint): place device vector in CUDA device system (`#8272 `_) -* docs(centerpoint): add description for ml package params (`#8187 `_) -* chore(autoware_lidar_centerpoint): updated tests (`#8158 `_) +* fix(autoware_lidar_centerpoint): place device vector in CUDA device system (`#8272 `_) +* docs(centerpoint): add description for ml package params (`#8187 `_) +* chore(autoware_lidar_centerpoint): updated tests (`#8158 `_) chore: updated centerpoin tests. they are currently commented out but they were not compiling (forgot to update them when I added the new cloud capacity parameter) -* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) +* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) * add prefix in lidar_centerpoint * add .gitignore * change include package name in image_projection_based fusion diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst index e6b2694e9acae..bfde461fad192 100644 --- a/perception/autoware_lidar_transfusion/CHANGELOG.rst +++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_lidar_transfusion 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -14,8 +14,8 @@ Changelog for package autoware_lidar_transfusion --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_lidar_transfusion): set tensor names by matching with predefined values. (`#9057 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_lidar_transfusion): set tensor names by matching with predefined values. (`#9057 `_) * set tensor order using api * style(pre-commit): autofix * fix tensor order @@ -24,26 +24,26 @@ Changelog for package autoware_lidar_transfusion * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_lidar _ransfusion): fix 3d bounding box orientation (`#9052 `_) +* feat(autoware_lidar _ransfusion): fix 3d bounding box orientation (`#9052 `_) * fix bbox orientation * revert newline changes * change kernel --------- Co-authored-by: Amadeusz Szymko -* feat(autoware_lidar_transfusion): shuffled points before feeding them to the model (`#8815 `_) +* feat(autoware_lidar_transfusion): shuffled points before feeding them to the model (`#8815 `_) feat: shuffling points before feeding them into the model to achieve random sampling into the voxels Co-authored-by: Amadeusz Szymko -* refactor(autoware_lidar_transfusion): split config (`#8205 `_) +* refactor(autoware_lidar_transfusion): split config (`#8205 `_) * refactor(autoware_lidar_transfusion): split config * style(pre-commit): autofix * chore(autoware_lidar_transfusion): bypass schema CI workflow --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(autoware_lidar_transfusion): place device vector in CUDA device system (`#8273 `_) -* fix(lidar_transfusion): commented tests were out of date (`#8116 `_) +* fix(autoware_lidar_transfusion): place device vector in CUDA device system (`#8273 `_) +* fix(lidar_transfusion): commented tests were out of date (`#8116 `_) chore: commented tests were out of date -* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) +* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) * add prefix * add prefix in code owner * style(pre-commit): autofix diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst index ebff67a4ade62..27297417c6563 100644 --- a/perception/autoware_map_based_prediction/CHANGELOG.rst +++ b/perception/autoware_map_based_prediction/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_map_based_prediction 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_map_based_prediction): refactoring lanelet path prediction and pose path conversion (`#9104 `_) +* refactor(autoware_map_based_prediction): refactoring lanelet path prediction and pose path conversion (`#9104 `_) * refactor: update predictObjectManeuver function parameters * refactor: update hash function for LaneletPath in map_based_prediction_node.hpp * refactor: path list rename @@ -17,14 +17,14 @@ Changelog for package autoware_map_based_prediction * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp --------- Co-authored-by: Mamoru Sobue -* chore(autoware_map_based_prediction): add maintainers to package.xml (`#9125 `_) +* chore(autoware_map_based_prediction): add maintainers to package.xml (`#9125 `_) chore: add maintainers to package.xml The package.xml file was updated to include additional maintainers' email addresses. -* fix(autoware_map_based_prediction): adjust lateral duration when object is behind reference path (`#8973 `_) +* fix(autoware_map_based_prediction): adjust lateral duration when object is behind reference path (`#8973 `_) fix: adjust lateral duration when object is behind reference path -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(autoware_map_based_prediction): improve frenet path generation (`#8811 `_) +* feat(autoware_map_based_prediction): improve frenet path generation (`#8811 `_) * feat: calculate terminal d position based on playable width in path_generator.cpp * feat: Add width parameter path generations refactor(path_generator): improve backlash width calculation @@ -71,10 +71,10 @@ Changelog for package autoware_map_based_prediction * fix: object orientation calculation is added to the predicted path generation * chore: fix spell-check --------- -* revert(autoware_map_based_prediction): revert improve frenet path gen (`#8808 `_) - Revert "feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_)" +* revert(autoware_map_based_prediction): revert improve frenet path gen (`#8808 `_) + Revert "feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_)" This reverts commit 67265bbd60c85282c1c3cf65e603098e0c30c477. -* feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_) +* feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_) * feat: calculate terminal d position based on playable width in path_generator.cpp * feat: Add width parameter path generations refactor(path_generator): improve backlash width calculation @@ -119,14 +119,14 @@ Changelog for package autoware_map_based_prediction * refactor: separate a logic to searchProperStartingRefPathIndex function * refactor: search starting ref path using optional for return type --------- -* perf(autoware_map_based_prediction): replace pow (`#8751 `_) -* fix(autoware_map_based_prediction): output from screen to both (`#8408 `_) -* perf(autoware_map_based_prediction): removed duplicate findNearest calculations (`#8490 `_) -* perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation (`#8471 `_) +* perf(autoware_map_based_prediction): replace pow (`#8751 `_) +* fix(autoware_map_based_prediction): output from screen to both (`#8408 `_) +* perf(autoware_map_based_prediction): removed duplicate findNearest calculations (`#8490 `_) +* perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation (`#8471 `_) * fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks * perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation --------- -* refactor(autoware_map_based_prediction): map based pred time keeper ptr (`#8462 `_) +* refactor(autoware_map_based_prediction): map based pred time keeper ptr (`#8462 `_) * refactor(map_based_prediction): implement time keeper by pointer * feat(map_based_prediction): set time keeper in path generator * feat: use scoped time track only when the timekeeper ptr is not null @@ -135,16 +135,16 @@ Changelog for package autoware_map_based_prediction * chore: remove unnecessary ScopedTimeTrack instances * feat: replace member to pointer --------- -* fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (`#8467 `_) -* perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType (`#8461 `_) +* fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (`#8467 `_) +* perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType (`#8461 `_) feat(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType -* perf(map_based_prediction): improve world to map transform calculation (`#8413 `_) +* perf(map_based_prediction): improve world to map transform calculation (`#8413 `_) * perf(map_based_prediction): improve world to map transform calculation 1. remove unused transforms 2. make transform loading late as possible * perf(map_based_prediction): get transform only when it is necessary --------- -* perf(autoware_map_based_prediction): improve orientation calculation and resample converted path (`#8427 `_) +* perf(autoware_map_based_prediction): improve orientation calculation and resample converted path (`#8427 `_) * refactor: improve orientation calculation and resample converted path with linear interpolation Simplify the calculation of the orientation for each pose in the convertPathType function by directly calculating the sine and cosine of half the yaw angle. This improves efficiency and readability. Also, improve the resampling of the converted path by using linear interpolation for better performance. * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -154,12 +154,12 @@ Changelog for package autoware_map_based_prediction --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* perf(map_based_prediction): apply lerp instead of spline (`#8416 `_) +* perf(map_based_prediction): apply lerp instead of spline (`#8416 `_) perf: apply lerp interpolation instead of spline -* revert (map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" (`#8417 `_) - Revert "perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" +* revert (map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" (`#8417 `_) + Revert "perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" This reverts commit 147403f1765346be9c5a3273552d86133298a899. -* perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_) +* perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_) * refactor: improve orientation calculation in MapBasedPredictionNode Simplify the calculation of the orientation for each pose in the convertPathType function. Instead of using the atan2 function, calculate the sine and cosine of half the yaw angle directly. This improves the efficiency and readability of the code. * refactor: resample converted path with linear interpolation @@ -167,20 +167,20 @@ Changelog for package autoware_map_based_prediction the mark indicates true, but the function resamplePoseVector implementation is opposite. chore: write comment about use_akima_slpine_for_xy --------- -* perf(map_based_prediction): create a fence LineString layer and use rtree query (`#8406 `_) +* perf(map_based_prediction): create a fence LineString layer and use rtree query (`#8406 `_) use fence layer -* perf(map_based_prediction): remove unncessary withinRoadLanelet() (`#8403 `_) -* feat(map_based_prediction): filter surrounding crosswalks for pedestrians beforehand (`#8388 `_) +* perf(map_based_prediction): remove unncessary withinRoadLanelet() (`#8403 `_) +* feat(map_based_prediction): filter surrounding crosswalks for pedestrians beforehand (`#8388 `_) fix withinAnyCroswalk -* fix(autoware_map_based_prediction): fix argument order (`#8031 `_) +* fix(autoware_map_based_prediction): fix argument order (`#8031 `_) fix(autoware_map_based_prediction): fix argument order in call `getFrenetPoint()` Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* feat(map_based_prediction): add time_keeper (`#8176 `_) -* fix(autoware_map_based_prediction): fix shadowVariable (`#7934 `_) +* feat(map_based_prediction): add time_keeper (`#8176 `_) +* fix(autoware_map_based_prediction): fix shadowVariable (`#7934 `_) fix:shadowVariable -* perf(map_based_prediction): remove query on all fences linestrings (`#7237 `_) -* fix(autoware_map_based_prediction): fix syntaxError (`#7813 `_) +* perf(map_based_prediction): remove query on all fences linestrings (`#7237 `_) +* fix(autoware_map_based_prediction): fix syntaxError (`#7813 `_) * fix(autoware_map_based_prediction): fix syntaxError * style(pre-commit): autofix * fix spellcheck @@ -188,15 +188,15 @@ Changelog for package autoware_map_based_prediction * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(map based prediction): use polling subscriber (`#7397 `_) +* feat(map based prediction): use polling subscriber (`#7397 `_) feat(map_based_prediction): use polling subscriber -* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) +* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Kotaro Uetake, Mamoru Sobue, Maxime CLEMENT, Onur Can Yücedağ, Ryuta Kambe, Taekjin LEE, Takamasa Horibe, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kminoda, kobayu858 0.26.0 (2024-04-03) diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst index 36f852fba97bd..593a9d70c4346 100644 --- a/perception/autoware_multi_object_tracker/CHANGELOG.rst +++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_multi_object_tracker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* feat(autoware_multi_object_tracker): Set maximum reverse velocity to bicycle and crtv motion models (`#9019 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* feat(autoware_multi_object_tracker): Set maximum reverse velocity to bicycle and crtv motion models (`#9019 `_) * feat: Add maximum reverse velocity to bicycle and CTRV motion models revert the tracker orientation when the velocity exceed the maximum reverse velocity refactor: Update motion model parameters for bicycle and CTRV motion models @@ -14,7 +14,7 @@ Changelog for package autoware_multi_object_tracker max_reverse_vel is expected to be negative * refactor: remove config checker in the initializer --------- -* refactor(autoware_multi_object_tracker): separate detected object covariance modeling (`#9001 `_) +* refactor(autoware_multi_object_tracker): separate detected object covariance modeling (`#9001 `_) * refactor: update object model includes in tracker models * feat: add uncertainty processor for object tracking feat: refactor uncertainty processing for object tracking @@ -45,69 +45,69 @@ Changelog for package autoware_multi_object_tracker * refactor: update runProcess function parameters in multi_object_tracker_node.hpp --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): update yaw with range-limited innovation (`#8976 `_) +* fix(autoware_multi_object_tracker): update yaw with range-limited innovation (`#8976 `_) fix: update yaw with range-limited innovation -* feat(autoware_multi_object_tracker): reduce trigger latency (`#8657 `_) +* feat(autoware_multi_object_tracker): reduce trigger latency (`#8657 `_) * feat: timer-based trigger with phase compensation * chore: update comments, name of variable * chore: declare min and max publish interval ratios * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): output from screen to both (`#8407 `_) -* fix(autoware_multi_object_tracker): fix unusedFunction (`#8573 `_) +* fix(autoware_multi_object_tracker): output from screen to both (`#8407 `_) +* fix(autoware_multi_object_tracker): fix unusedFunction (`#8573 `_) fix:unusedFunction -* chore(autoware_multi_object_tracker): fix typo in input_channels.schema.json (`#8515 `_) +* chore(autoware_multi_object_tracker): fix typo in input_channels.schema.json (`#8515 `_) * fix(schema): fix typo in input_channels.schema.json Fixed a typo in the "lidar_pointpainting" key in the input_channels.schema.json file. * fix: fix typo in lidar_pointpainting key * chore: fix typo of lidar_pointpainitng channel --------- Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) * refactor(kalman_filter): prefix package and namespace with autoware * move headers to include/autoware/ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs(autoware_multi_object_tracker): update input_channels schema with default values (`#8473 `_) +* docs(autoware_multi_object_tracker): update input_channels schema with default values (`#8473 `_) chore(perception): update input_channels schema with default values -* fix(autoware_multi_object_tracker): enable trigger publish when delay_compensation is false (`#8484 `_) +* fix(autoware_multi_object_tracker): enable trigger publish when delay_compensation is false (`#8484 `_) fix: enable trigger publish when delay_compensation is false -* fix(autoware_multi_object_tracker): fix functionConst (`#8424 `_) +* fix(autoware_multi_object_tracker): fix functionConst (`#8424 `_) fix:functionConst -* docs(autoware_multi_object_tracker): add default values on the schema json (`#8179 `_) +* docs(autoware_multi_object_tracker): add default values on the schema json (`#8179 `_) * Refractored the parameters, build the schema file, updated the readme file. * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): fix functionConst (`#8290 `_) +* fix(autoware_multi_object_tracker): fix functionConst (`#8290 `_) * fix:functionConst * fix:functionConst * fix:clang format --------- -* fix(autoware_multi_object_tracker): revert latency reduction logic and bring back to timer trigger (`#8277 `_) +* fix(autoware_multi_object_tracker): revert latency reduction logic and bring back to timer trigger (`#8277 `_) * fix: revert latency reduction logic and bring back to timer trigger * style(pre-commit): autofix * chore: remove unused variables --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): fix uninitMemberVar (`#8335 `_) +* fix(autoware_multi_object_tracker): fix uninitMemberVar (`#8335 `_) fix:uninitMemberVar -* fix(autoware_multi_object_tracker): fix passedByValue (`#8231 `_) +* fix(autoware_multi_object_tracker): fix passedByValue (`#8231 `_) fix:passedByValue -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* fix(autoware_multi_object_tracker): missing parameter schema path fix (`#8120 `_) +* fix(autoware_multi_object_tracker): missing parameter schema path fix (`#8120 `_) fix: missing parameter schema path fix -* fix(multi_object_tracker): fix funcArgNamesDifferent (`#8079 `_) +* fix(multi_object_tracker): fix funcArgNamesDifferent (`#8079 `_) fix:funcArgNamesDifferent -* refactor(multi_object_tracker): bring parameter schema to new package folder (`#8105 `_) +* refactor(multi_object_tracker): bring parameter schema to new package folder (`#8105 `_) refactor: bring parameter schema to new package folder -* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker * style(pre-commit): autofix --------- diff --git a/perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml b/perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml index 09621a40c499f..7dd588ec8eeba 100644 --- a/perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml +++ b/perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml @@ -13,6 +13,7 @@ publish_rate: 10.0 world_frame_id: map enable_delay_compensation: false + consider_odometry_uncertainty: false # debug parameters publish_processing_time: false diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp index c67e71b38a6f9..12bd865795b85 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp @@ -23,6 +23,7 @@ #include #include +#include namespace autoware::multi_object_tracker { @@ -34,6 +35,7 @@ using autoware::multi_object_tracker::object_model::ObjectModel; using autoware_perception_msgs::msg::DetectedObject; using autoware_perception_msgs::msg::DetectedObjects; using autoware_perception_msgs::msg::ObjectClassification; +using nav_msgs::msg::Odometry; ObjectModel decodeObjectModel(const ObjectClassification & object_class); @@ -44,6 +46,7 @@ object_model::StateCovariance covarianceFromObjectClass( void normalizeUncertainty(DetectedObjects & detected_objects); +void addOdometryUncertainty(const Odometry & odometry, DetectedObjects & detected_objects); } // namespace uncertainty } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp index 840879f9bd7aa..3f0b854931842 100644 --- a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp +++ b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp @@ -17,6 +17,9 @@ #include "autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp" +#include +#include + namespace autoware::multi_object_tracker { namespace uncertainty @@ -135,5 +138,103 @@ void normalizeUncertainty(DetectedObjects & detected_objects) } } +void addOdometryUncertainty(const Odometry & odometry, DetectedObjects & detected_objects) +{ + const auto & odom_pose = odometry.pose.pose; + const auto & odom_pose_cov = odometry.pose.covariance; + const auto & odom_twist = odometry.twist.twist; + const auto & odom_twist_cov = odometry.twist.covariance; + + // ego motion uncertainty, velocity multiplied by time uncertainty + const double ego_yaw = tf2::getYaw(odom_pose.orientation); + const double dt = + (rclcpp::Time(odometry.header.stamp) - rclcpp::Time(detected_objects.header.stamp)).seconds(); + const double dt2 = dt * dt; + Eigen::MatrixXd m_rot_ego = Eigen::Rotation2D(ego_yaw).toRotationMatrix(); + Eigen::MatrixXd m_cov_motion = Eigen::MatrixXd(2, 2); + m_cov_motion << odom_twist.linear.x * odom_twist.linear.x * dt2, 0, 0, + odom_twist.linear.y * odom_twist.linear.y * dt2; + + // ego position uncertainty, position covariance + motion covariance + Eigen::MatrixXd m_cov_ego_pose = Eigen::MatrixXd(2, 2); + m_cov_ego_pose << odom_pose_cov[0], odom_pose_cov[1], odom_pose_cov[6], odom_pose_cov[7]; + m_cov_ego_pose = m_cov_ego_pose + m_rot_ego * m_cov_motion * m_rot_ego.transpose(); + + // ego yaw uncertainty, position covariance + yaw motion covariance + const double & cov_ego_yaw = odom_pose_cov[35]; + const double cov_yaw = cov_ego_yaw + odom_twist.angular.z * odom_twist.angular.z * dt2; + + // ego velocity uncertainty, velocity covariance + Eigen::MatrixXd m_cov_ego_twist = Eigen::MatrixXd(2, 2); + m_cov_ego_twist << odom_twist_cov[0], odom_twist_cov[1], odom_twist_cov[6], odom_twist_cov[7]; + const double & cov_yaw_rate = odom_twist_cov[35]; + + for (auto & object : detected_objects.objects) { + auto & object_pose = object.kinematics.pose_with_covariance.pose; + auto & object_pose_cov = object.kinematics.pose_with_covariance.covariance; + const double dx = object_pose.position.x - odom_pose.position.x; + const double dy = object_pose.position.y - odom_pose.position.y; + const double r2 = dx * dx + dy * dy; + const double theta = std::atan2(dy, dx); + + // 1. add odometry position and motion uncertainty to the object position covariance + Eigen::MatrixXd m_pose_cov = Eigen::MatrixXd(2, 2); + m_pose_cov << object_pose_cov[XYZRPY_COV_IDX::X_X], object_pose_cov[XYZRPY_COV_IDX::X_Y], + object_pose_cov[XYZRPY_COV_IDX::Y_X], object_pose_cov[XYZRPY_COV_IDX::Y_Y]; + + // 1-a. add odometry position uncertainty to the object position covariance + // object position and it covariance is based on the world frame (map) + m_pose_cov = m_pose_cov + m_cov_ego_pose; + + // 1-b. add odometry heading uncertainty to the object position covariance + // uncertainty is proportional to the distance and the uncertainty orientation is vertical to + // the vector to the object + { + const double cov_by_yaw = cov_ego_yaw * r2; + // rotate the covariance matrix, add the yaw uncertainty, and rotate back + Eigen::MatrixXd m_rot_theta = Eigen::Rotation2D(theta).toRotationMatrix(); + Eigen::MatrixXd m_cov_rot = m_rot_theta.transpose() * m_pose_cov * m_rot_theta; + m_cov_rot(1, 1) += cov_by_yaw; // yaw uncertainty is added to y-y element + m_pose_cov = m_rot_theta * m_cov_rot * m_rot_theta.transpose(); + } + // 1-c. add odometry yaw uncertainty to the object yaw covariance + object_pose_cov[XYZRPY_COV_IDX::YAW_YAW] += cov_yaw; // yaw-yaw + + // update the covariance matrix + object_pose_cov[XYZRPY_COV_IDX::X_X] = m_pose_cov(0, 0); + object_pose_cov[XYZRPY_COV_IDX::X_Y] = m_pose_cov(0, 1); + object_pose_cov[XYZRPY_COV_IDX::Y_X] = m_pose_cov(1, 0); + object_pose_cov[XYZRPY_COV_IDX::Y_Y] = m_pose_cov(1, 1); + + // 2. add odometry velocity uncertainty to the object velocity covariance + auto & object_twist_cov = object.kinematics.twist_with_covariance.covariance; + Eigen::MatrixXd m_twist_cov = Eigen::MatrixXd(2, 2); + m_twist_cov << object_twist_cov[XYZRPY_COV_IDX::X_X], object_twist_cov[XYZRPY_COV_IDX::X_Y], + object_twist_cov[XYZRPY_COV_IDX::Y_X], object_twist_cov[XYZRPY_COV_IDX::Y_Y]; + + // 2-a. add odometry velocity uncertainty to the object linear twist covariance + { + const double obj_yaw = tf2::getYaw(object_pose.orientation); // object yaw is global frame + Eigen::MatrixXd m_rot_theta = Eigen::Rotation2D(obj_yaw - ego_yaw).toRotationMatrix(); + m_twist_cov = m_twist_cov + m_rot_theta.transpose() * m_cov_ego_twist * m_rot_theta; + } + + // 2-b. add odometry yaw rate uncertainty to the object linear twist covariance + { + const double cov_by_yaw_rate = cov_yaw_rate * r2; + Eigen::MatrixXd m_rot_theta = Eigen::Rotation2D(theta).toRotationMatrix(); + Eigen::MatrixXd m_twist_cov_rot = m_rot_theta.transpose() * m_twist_cov * m_rot_theta; + m_twist_cov_rot(1, 1) += cov_by_yaw_rate; // yaw rate uncertainty is added to y-y element + m_twist_cov = m_rot_theta * m_twist_cov_rot * m_rot_theta.transpose(); + } + + // update the covariance matrix + object_twist_cov[XYZRPY_COV_IDX::X_X] = m_twist_cov(0, 0); + object_twist_cov[XYZRPY_COV_IDX::X_Y] = m_twist_cov(0, 1); + object_twist_cov[XYZRPY_COV_IDX::Y_X] = m_twist_cov(1, 0); + object_twist_cov[XYZRPY_COV_IDX::Y_Y] = m_twist_cov(1, 1); + } +} + } // namespace uncertainty } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index e16e4c0d2a836..5eb591d60133f 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -21,6 +21,7 @@ eigen glog mussp + nav_msgs rclcpp rclcpp_components tf2 diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp index 24bf4ef9c123d..68a356cd91da5 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp @@ -87,6 +87,7 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) double publish_rate = declare_parameter("publish_rate"); // [hz] world_frame_id_ = declare_parameter("world_frame_id"); bool enable_delay_compensation{declare_parameter("enable_delay_compensation")}; + enable_odometry_uncertainty_ = declare_parameter("consider_odometry_uncertainty"); declare_parameter("selected_input_channels", std::vector()); std::vector selected_input_channels = @@ -274,19 +275,49 @@ void MultiObjectTracker::runProcess( return; } - // Model the object uncertainty if it is empty - DetectedObjects input_objects_with_uncertainty = uncertainty::modelUncertainty(input_objects); - - // Normalize the object uncertainty - uncertainty::normalizeUncertainty(input_objects_with_uncertainty); - // Transform the objects to the world frame DetectedObjects transformed_objects; if (!autoware::object_recognition_utils::transformObjects( - input_objects_with_uncertainty, world_frame_id_, tf_buffer_, transformed_objects)) { + input_objects, world_frame_id_, tf_buffer_, transformed_objects)) { return; } + // the object uncertainty + if (enable_odometry_uncertainty_) { + // Create a modeled odometry message + nav_msgs::msg::Odometry odometry; + odometry.header.stamp = measurement_time + rclcpp::Duration::from_seconds(0.001); + + // set odometry pose from self_transform + auto & odom_pose = odometry.pose.pose; + odom_pose.position.x = self_transform->translation.x; + odom_pose.position.y = self_transform->translation.y; + odom_pose.position.z = self_transform->translation.z; + odom_pose.orientation = self_transform->rotation; + + // set odometry twist + auto & odom_twist = odometry.twist.twist; + odom_twist.linear.x = 10.0; // m/s + odom_twist.linear.y = 0.1; // m/s + odom_twist.angular.z = 0.1; // rad/s + + // model the uncertainty + auto & odom_pose_cov = odometry.pose.covariance; + odom_pose_cov[0] = 0.1; // x-x + odom_pose_cov[7] = 0.1; // y-y + odom_pose_cov[35] = 0.0001; // yaw-yaw + + auto & odom_twist_cov = odometry.twist.covariance; + odom_twist_cov[0] = 2.0; // x-x [m^2/s^2] + odom_twist_cov[7] = 0.2; // y-y [m^2/s^2] + odom_twist_cov[35] = 0.001; // yaw-yaw [rad^2/s^2] + + // Add the odometry uncertainty to the object uncertainty + uncertainty::addOdometryUncertainty(odometry, transformed_objects); + } + // Normalize the object uncertainty + uncertainty::normalizeUncertainty(transformed_objects); + /* prediction */ processor_->predict(measurement_time); diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp index 04d83ebd47acb..b9886ee3fc847 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp @@ -87,6 +87,7 @@ class MultiObjectTracker : public rclcpp::Node std::string world_frame_id_; // tracking frame std::unique_ptr association_; std::unique_ptr processor_; + bool enable_odometry_uncertainty_; // input manager std::unique_ptr input_manager_; diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp index decd2139c5b81..c9ee8dae9562a 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp @@ -14,6 +14,8 @@ #include "input_manager.hpp" +#include + #include namespace autoware::multi_object_tracker @@ -49,8 +51,13 @@ void InputStream::init(const InputChannel & input_channel) void InputStream::onMessage( const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr msg) { - const DetectedObjects objects = *msg; - objects_que_.push_back(objects); + const DetectedObjects & objects = *msg; + + // Model the object uncertainty only if it is not available + DetectedObjects objects_with_uncertainty = uncertainty::modelUncertainty(objects); + + // Move the objects_with_uncertainty to the objects queue + objects_que_.push_back(std::move(objects_with_uncertainty)); while (objects_que_.size() > que_size_) { objects_que_.pop_front(); } diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst index 30a2a4d8eb8eb..e4af14846d835 100644 --- a/perception/autoware_object_merger/CHANGELOG.rst +++ b/perception/autoware_object_merger/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package autoware_object_merger 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_object_merger): default merger priority within enum range (`#8858 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_object_merger): default merger priority within enum range (`#8858 `_) fix: default merger priority within enum range -* fix(object_association_merger_node): fix the frame id of output object msg (`#8674 `_) +* fix(object_association_merger_node): fix the frame id of output object msg (`#8674 `_) fix: fix the object msg header -* fix(doc, object_merger): fix object merger document path (`#8292 `_) +* fix(doc, object_merger): fix object merger document path (`#8292 `_) fix object merger document path -* fix(autoware_object_merger): fix passedByValue (`#8232 `_) +* fix(autoware_object_merger): fix passedByValue (`#8232 `_) fix:passedByValue -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) +* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Taekjin LEE, Yi-Hsiang Fang (Vivid), Yutaka Kondo, Yuxuan Liu, kobayu858 0.26.0 (2024-04-03) diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst index 8b80372325662..6552fd133981c 100644 --- a/perception/autoware_object_range_splitter/CHANGELOG.rst +++ b/perception/autoware_object_range_splitter/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_object_range_splitter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fox docs for autoware object range splitter (`#8306 `_) +* fix(docs): fox docs for autoware object range splitter (`#8306 `_) * fix docs for autoware object range splitter * fix spelling --------- -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst index f3e129eded74f..66513afe678ca 100644 --- a/perception/autoware_object_velocity_splitter/CHANGELOG.rst +++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_object_velocity_splitter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_object_velocity_splitter): fix funcArgNamesDifferent (`#8013 `_) +* fix(autoware_object_velocity_splitter): fix funcArgNamesDifferent (`#8013 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst index 7f0f398490ef5..8994678344025 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(occupancy_grid_map_outlier_filter): add time_keeper (`#8597 `_) +* feat(occupancy_grid_map_outlier_filter): add time_keeper (`#8597 `_) * add time_keeper * add option for time keeper * add scope and timekeeper @@ -14,12 +14,12 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter * add timekeeper option * fix comment --------- -* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) +* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) * add param and schema file, edit readme * . * correct linter errors --------- -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp b/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp index cf8e36833b339..eb52b903b90ca 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp +++ b/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp @@ -32,6 +32,7 @@ #endif #include +#include #include #include #include @@ -140,7 +141,8 @@ void RadiusSearch2dFilter::filter( const float distance = std::hypot(xy_cloud->points[i].x - pose.position.x, xy_cloud->points[i].y - pose.position.y); const int min_points_threshold = std::min( - std::max(static_cast(min_points_and_distance_ratio_ / distance + 0.5f), min_points_), + std::max( + static_cast(std::lround(min_points_and_distance_ratio_ / distance)), min_points_), max_points_); const int points_num = kd_tree_->radiusSearch(i, search_radius_, k_indices, k_distances, min_points_threshold); @@ -200,7 +202,8 @@ void RadiusSearch2dFilter::filter( const float distance = std::hypot(xy_cloud->points[i].x - pose.position.x, xy_cloud->points[i].y - pose.position.y); const int min_points_threshold = std::min( - std::max(static_cast(min_points_and_distance_ratio_ / distance + 0.5f), min_points_), + std::max( + static_cast(std::lround(min_points_and_distance_ratio_ / distance)), min_points_), max_points_); const int points_num = kd_tree_->radiusSearch(i, search_radius_, k_indices, k_distances, min_points_threshold); diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst index d866dc5c742c8..2906f0f1f76a3 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst +++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_probabilistic_occupancy_grid_map 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(probabilistic_occupancy_grid_map): add time_keeper (`#8601 `_) +* feat(probabilistic_occupancy_grid_map): add time_keeper (`#8601 `_) * add time_keeper * add option for time keeper * correct namespace @@ -18,15 +18,15 @@ Changelog for package autoware_probabilistic_occupancy_grid_map * fix variable shadowing --------- Co-authored-by: Taekjin LEE -* fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (`#8574 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (`#8574 `_) fix:unusedFunction -* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8426 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8426 `_) fix:functionConst -* fix(autoware_probabilistic_occupancy_grid_map): fix uninitMemberVar (`#8333 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix uninitMemberVar (`#8333 `_) fix:uninitMemberVar -* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8289 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8289 `_) fix:functionConst -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst index dce4e0aae3f62..be3d4cb398b51 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst +++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_radar_crossing_objects_noise_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter --------- -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst index 7d6ee4ac64750..e1c5497782ae0 100644 --- a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst +++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_radar_fusion_to_detected_object 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_radar_fusion_to_detected_object): fix variableScope (`#8429 `_) +* fix(autoware_radar_fusion_to_detected_object): fix variableScope (`#8429 `_) fix:variableScope Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* fix(autoware_radar_fusion_to_detected_object): fix functionConst (`#8287 `_) +* fix(autoware_radar_fusion_to_detected_object): fix functionConst (`#8287 `_) fix:functionConst -* fix(autoware_radar_fusion_to_detected_object): fix warnings of functionStatic (`#8052 `_) +* fix(autoware_radar_fusion_to_detected_object): fix warnings of functionStatic (`#8052 `_) fix: deal with functionStatic warning -* fix(autoware_radar_fusion_to_detected_object): fix constParameterReference (`#8040 `_) +* fix(autoware_radar_fusion_to_detected_object): fix constParameterReference (`#8040 `_) fix:constParameterReference -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst index 0b1ed7b63a2ee..e2a9c19b6f086 100644 --- a/perception/autoware_radar_object_clustering/CHANGELOG.rst +++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_radar_object_clustering 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter --------- -* fix(autoware_radar_object_clustering): fix funcArgNamesDifferent (`#8014 `_) +* fix(autoware_radar_object_clustering): fix funcArgNamesDifferent (`#8014 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst index d172f19376f0c..f2490cc59c4fc 100644 --- a/perception/autoware_radar_object_tracker/CHANGELOG.rst +++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package autoware_radar_object_tracker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) * refactor(kalman_filter): prefix package and namespace with autoware * move headers to include/autoware/ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_radar_object_tracker): fix redundantInitialization (`#8227 `_) +* fix(autoware_radar_object_tracker): fix redundantInitialization (`#8227 `_) * fix(autoware_radar_object_tracker): fix redundantInitialization * Update perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp Co-authored-by: Yukihiro Saito --------- Co-authored-by: Yukihiro Saito -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* fix(autoware_radar_object_tracker): fix funcArgNamesDifferent (`#8015 `_) +* fix(autoware_radar_object_tracker): fix funcArgNamesDifferent (`#8015 `_) fix:funcArgNamesDifferent -* fix(autoware_radar_object_tracker): fix shadowVariable (`#7945 `_) +* fix(autoware_radar_object_tracker): fix shadowVariable (`#7945 `_) fix:shadowVariable -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst index 190161a1061ad..38e0a25549f76 100644 --- a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst +++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_radar_tracks_msgs_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fix docs for radar tracks msgs converter (`#8305 `_) +* fix(docs): fix docs for radar tracks msgs converter (`#8305 `_) * fix docs for radar tracks msgs converter * fix a not correctly formatted link in readme found by CI --------- -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst index fb8794b10745f..1ed0d176125ab 100644 --- a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst +++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_raindrop_cluster_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* chore(raindrop_cluster_filter): add node test (`#8859 `_) -* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* chore(raindrop_cluster_filter): add node test (`#8859 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) refactor: rename detected_object_validation to autoware_detected_object_validation -* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) +* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) * refactor(raindrop_cluster_filter): add package name prefix of autoware\_ * fix: typo --------- diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst index 17cb90ce0dd09..276854066ef08 100644 --- a/perception/autoware_shape_estimation/CHANGELOG.rst +++ b/perception/autoware_shape_estimation/CHANGELOG.rst @@ -5,13 +5,13 @@ Changelog for package autoware_shape_estimation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) +* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) * add object based corrector * apply cppcheck suggestion * fix typo --------- Co-authored-by: Taekjin LEE -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -19,17 +19,17 @@ Changelog for package autoware_shape_estimation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* test(autoware_shape_estimation): add unit testing for `ShapeEstimationNode` (`#8740 `_) +* test(autoware_shape_estimation): add unit testing for `ShapeEstimationNode` (`#8740 `_) test: add unit testing for `ShapeEstimationNode` -* fix(autoware_shape_estimation): fix unusedFunction (`#8575 `_) +* fix(autoware_shape_estimation): fix unusedFunction (`#8575 `_) * fix:unusedFunction * fix:unusedFunction * fix:end of file issues * fix:copyright --------- -* fix(autoware_shape_estimation): resolve undefined reference to `~TrtShapeEstimator()` (`#8738 `_) +* fix(autoware_shape_estimation): resolve undefined reference to `~TrtShapeEstimator()` (`#8738 `_) fix: resolve undefined reference to `~TrtShapeEstimator()` -* feat(shape_estimation): add ml shape estimation (`#7860 `_) +* feat(shape_estimation): add ml shape estimation (`#7860 `_) * feat(shape_estimation): add ml shape estimation * style(pre-commit): autofix * feat(shape_estimation): fix exceed objects @@ -37,7 +37,7 @@ Changelog for package autoware_shape_estimation * feat(shape_estimation): fix indent --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst index a8e9836625958..f9b905a340f12 100644 --- a/perception/autoware_simple_object_merger/CHANGELOG.rst +++ b/perception/autoware_simple_object_merger/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_simple_object_merger 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst index d8615e2e64353..ac517eba9c465 100644 --- a/perception/autoware_tensorrt_classifier/CHANGELOG.rst +++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_tensorrt_classifier 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,13 +13,13 @@ Changelog for package autoware_tensorrt_classifier --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(tensorrt classifier wrapper): fix unreadVariable (`#8355 `_) +* fix(tensorrt classifier wrapper): fix unreadVariable (`#8355 `_) * fix:unreadVariable * fix:unreadVariable --------- -* fix(autoware_tensorrt_classifier): fix passedByValue (`#8236 `_) +* fix(autoware_tensorrt_classifier): fix passedByValue (`#8236 `_) fix:passedByValue -* refactor(tensorrt_classifier)!: fix namespace and directory structure (`#8009 `_) +* refactor(tensorrt_classifier)!: fix namespace and directory structure (`#8009 `_) * add prefix into * add prefix in CODEOWNERS * remove invalid author diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst index 81ec4c111519a..9510da691fba7 100644 --- a/perception/autoware_tensorrt_common/CHANGELOG.rst +++ b/perception/autoware_tensorrt_common/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_tensorrt_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst index 349162cd54d18..e9cec23494914 100644 --- a/perception/autoware_tensorrt_yolox/CHANGELOG.rst +++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_tensorrt_yolox 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,27 +13,27 @@ Changelog for package autoware_tensorrt_yolox --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) * init CUDA device option Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_tensorrt_yolox): add Kotaro Uetake as maintainer (`#8595 `_) +* chore(autoware_tensorrt_yolox): add Kotaro Uetake as maintainer (`#8595 `_) chore: add Kotaro Uetake as maintainer -* fix: cpp17 namespaces (`#8526 `_) +* fix: cpp17 namespaces (`#8526 `_) Use traditional-style nameplace nesting for nvcc Co-authored-by: Yuri Guimaraes -* fix(docs): fix docs for tensorrt yolox (`#8304 `_) +* fix(docs): fix docs for tensorrt yolox (`#8304 `_) fix docs for tensorrt yolox -* refactor(tensorrt_yolox): move utils into perception_utils (`#8435 `_) +* refactor(tensorrt_yolox): move utils into perception_utils (`#8435 `_) * chore(tensorrt_yolo): refactor utils * style(pre-commit): autofix * fix: tensorrt_yolox --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_tensorrt_yolox): fix variableScope (`#8430 `_) +* fix(autoware_tensorrt_yolox): fix variableScope (`#8430 `_) fix: variableScope Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (`#7905 `_) +* fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (`#7905 `_) * fix: add rle compress * fix: rle compress * fix: move rle into utils @@ -55,11 +55,11 @@ Changelog for package autoware_tensorrt_yolox Co-authored-by: Yukihiro Saito Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_tensorrt_yolox): fix unreadVariable (`#8356 `_) +* fix(autoware_tensorrt_yolox): fix unreadVariable (`#8356 `_) * fix:unreadVariable * fix:unreadVariable --------- -* refactor: image transport decompressor/autoware prefix (`#8197 `_) +* refactor: image transport decompressor/autoware prefix (`#8197 `_) * refactor: add `autoware` namespace prefix to image_transport_decompressor * refactor(image_transport_decompressor): add `autoware` prefix to the package code * refactor: update package name in CODEOWNER @@ -70,7 +70,7 @@ Changelog for package autoware_tensorrt_yolox --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) * refactor: add autoware namespace prefix to `tensorrt_yolox` * refactor: apply `autoware` namespace to tensorrt_yolox * chore: update CODEOWNERS diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst index d2d107ee36af0..a4a65b6339ad1 100644 --- a/perception/autoware_tracking_object_merger/CHANGELOG.rst +++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst @@ -5,20 +5,20 @@ Changelog for package autoware_tracking_object_merger 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_tracking_object_merger): fix unusedFunction (`#8578 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_tracking_object_merger): fix unusedFunction (`#8578 `_) fix:unusedFunction -* fix(autoware_tracking_object_merger): add merge frame (`#8418 `_) +* fix(autoware_tracking_object_merger): add merge frame (`#8418 `_) * fix(autoware_tracking_object_merger): add merge frame * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) +* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) * Contributors: Esteve Fernandez, Kaan Çolak, Ryuta Kambe, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst index 8f1355a111cba..d1bc11f6e45f9 100644 --- a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst +++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_traffic_light_arbiter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_traffic_light_arbiter): fix build error (`#9186 `_) +* fix(autoware_traffic_light_arbiter): fix build error (`#9186 `_) fix build error -* test(autoware_traffic_light_arbiter): add node test (`#8747 `_) +* test(autoware_traffic_light_arbiter): add node test (`#8747 `_) * add test dir * update test node * style(pre-commit): autofix @@ -17,9 +17,9 @@ Changelog for package autoware_traffic_light_arbiter * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(traffic_light_arbiter): missing name changes (`#8278 `_) +* chore(traffic_light_arbiter): missing name changes (`#8278 `_) chore: missing name changes -* refactor: traffic light arbiter/autoware prefix (`#8181 `_) +* refactor: traffic light arbiter/autoware prefix (`#8181 `_) * refactor(traffic_light_arbiter): apply `autoware` namespace to traffic_light_arbiter * refactor(traffic_light_arbiter): update the package name in CODEWONER * style(pre-commit): autofix diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index d9dc020ce9790..638bcbe941416 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -6,6 +6,7 @@ The autoware_traffic_light_arbiter package Kenzo Lobos-Tsunekawa Shunsuke Miura + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst index 441964c17d79d..7995044220180 100644 --- a/perception/autoware_traffic_light_classifier/CHANGELOG.rst +++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_traffic_light_classifier 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,11 +13,11 @@ Changelog for package autoware_traffic_light_classifier --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(traffic_light_classifier): fix traffic light monitor warning (`#8412 `_) +* fix(traffic_light_classifier): fix traffic light monitor warning (`#8412 `_) fix traffic light monitor warning -* fix(autoware_traffic_light_classifier): fix passedByValue (`#8392 `_) +* fix(autoware_traffic_light_classifier): fix passedByValue (`#8392 `_) fix:passedByValue -* fix(traffic_light_classifier): fix zero size roi bug (`#7608 `_) +* fix(traffic_light_classifier): fix zero size roi bug (`#7608 `_) * fix: continue to process when input roi size is zero * fix: consider when roi size is zero, rois is empty fix @@ -27,11 +27,11 @@ Changelog for package autoware_traffic_light_classifier * chore: refactor code to handle empty input ROIs in traffic_light_classifier_node.cpp * refactor: using index instead of vector length --------- -* fix(traffic_light_classifier): fix funcArgNamesDifferent (`#8153 `_) +* fix(traffic_light_classifier): fix funcArgNamesDifferent (`#8153 `_) * fix:funcArgNamesDifferent * fix:clang format --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index f21ff65ebe2ed..99bdeb0643d91 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -7,6 +7,7 @@ Yukihiro Saito Shunsuke Miura Tao Zhong + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst index 0b82b55275d84..87a5dda3c8add 100644 --- a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_traffic_light_fine_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,27 +13,27 @@ Changelog for package autoware_traffic_light_fine_detector --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) +* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) * init CUDA device option Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_traffic_light_fine_detector): fix unusedFunction (`#8583 `_) +* fix(autoware_traffic_light_fine_detector): fix unusedFunction (`#8583 `_) fix:unusedFunction -* fix(autoware_traffic_light_fine_detector): fix passedByValue (`#8237 `_) +* fix(autoware_traffic_light_fine_detector): fix passedByValue (`#8237 `_) fix:passedByValue -* fix(traffic_light_fine_detector): fix funcArgNamesDifferent (`#8154 `_) +* fix(traffic_light_fine_detector): fix funcArgNamesDifferent (`#8154 `_) fix:funcArgNamesDifferent -* fix(autoware_traffic_light_fine_detector): fix constParameterReference (`#8146 `_) +* fix(autoware_traffic_light_fine_detector): fix constParameterReference (`#8146 `_) * fix:constParameterReference * fix:constParameterReference * fix:constParameterReference --------- -* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) * refactor: add autoware namespace prefix to `tensorrt_yolox` * refactor: apply `autoware` namespace to tensorrt_yolox * chore: update CODEOWNERS * fix: resolve `yolox_tiny` to work --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index 74ca484ae775f..fd540d80e5d7e 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -7,6 +7,7 @@ Tao Zhong Shunsuke Miura Shintaro Tomie + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst index 211ea4d84b79b..5d05b6687cab3 100644 --- a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_traffic_light_map_based_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_traffic_light_map_based_detector): output from screen to both (`#8411 `_) -* fix(traffic_light_map_based_detector): fix funcArgNamesDifferent (`#8155 `_) +* fix(autoware_traffic_light_map_based_detector): output from screen to both (`#8411 `_) +* fix(traffic_light_map_based_detector): fix funcArgNamesDifferent (`#8155 `_) fix:funcArgNamesDifferent -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml index 9f32c8f8f491c..0d0b1efe91d4c 100644 --- a/perception/autoware_traffic_light_map_based_detector/package.xml +++ b/perception/autoware_traffic_light_map_based_detector/package.xml @@ -7,6 +7,7 @@ Yukihiro Saito Shunsuke Miura Tao Zhong + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst index 3faaea27dd068..8842867c03485 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst +++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_traffic_light_multi_camera_fusion 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml index 9415673ca30a0..111e34030c870 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml +++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml @@ -6,6 +6,7 @@ The autoware_traffic_light_multi_camera_fusion package Tao Zhong Shunsuke Miura + Masato Saeki Apache License 2.0 ament_cmake_auto @@ -15,6 +16,7 @@ autoware_lanelet2_extension autoware_map_msgs autoware_perception_msgs + message_filters rclcpp rclcpp_components sensor_msgs diff --git a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp index 70841b936af37..08c6600d91923 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp +++ b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp @@ -102,8 +102,8 @@ V at_or(const std::unordered_map & map, const K & key, const V & value) autoware_perception_msgs::msg::TrafficLightElement convert( const tier4_perception_msgs::msg::TrafficLightElement & input) { - typedef tier4_perception_msgs::msg::TrafficLightElement OldElem; - typedef autoware_perception_msgs::msg::TrafficLightElement NewElem; + using OldElem = tier4_perception_msgs::msg::TrafficLightElement; + using NewElem = autoware_perception_msgs::msg::TrafficLightElement; static const std::unordered_map color_map( {{OldElem::RED, NewElem::RED}, {OldElem::AMBER, NewElem::AMBER}, @@ -292,7 +292,7 @@ void MultiCameraFusion::multiCameraFusion(std::map & fused } void MultiCameraFusion::groupFusion( - std::map & fused_record_map, + const std::map & fused_record_map, std::map & grouped_record_map) { grouped_record_map.clear(); diff --git a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp index 23bc59c26b293..bf41df9bb3a24 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp +++ b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp @@ -65,16 +65,16 @@ bool operator<(const FusionRecordArr & r1, const FusionRecordArr & r2) class MultiCameraFusion : public rclcpp::Node { public: - typedef sensor_msgs::msg::CameraInfo CamInfoType; - typedef tier4_perception_msgs::msg::TrafficLightRoi RoiType; - typedef tier4_perception_msgs::msg::TrafficLight SignalType; - typedef tier4_perception_msgs::msg::TrafficLightArray SignalArrayType; - typedef tier4_perception_msgs::msg::TrafficLightRoiArray RoiArrayType; - typedef tier4_perception_msgs::msg::TrafficLightRoi::_traffic_light_id_type IdType; - typedef autoware_perception_msgs::msg::TrafficLightGroup NewSignalType; - typedef autoware_perception_msgs::msg::TrafficLightGroupArray NewSignalArrayType; + using CamInfoType = sensor_msgs::msg::CameraInfo; + using RoiType = tier4_perception_msgs::msg::TrafficLightRoi; + using SignalType = tier4_perception_msgs::msg::TrafficLight; + using SignalArrayType = tier4_perception_msgs::msg::TrafficLightArray; + using RoiArrayType = tier4_perception_msgs::msg::TrafficLightRoiArray; + using IdType = tier4_perception_msgs::msg::TrafficLightRoi::_traffic_light_id_type; + using NewSignalType = autoware_perception_msgs::msg::TrafficLightGroup; + using NewSignalArrayType = autoware_perception_msgs::msg::TrafficLightGroupArray; - typedef std::pair RecordArrayType; + using RecordArrayType = std::pair; explicit MultiCameraFusion(const rclcpp::NodeOptions & node_options); @@ -91,14 +91,14 @@ class MultiCameraFusion : public rclcpp::Node const std::map & grouped_record_map, NewSignalArrayType & msg_out); void groupFusion( - std::map & fused_record_map, + const std::map & fused_record_map, std::map & grouped_record_map); - typedef mf::sync_policies::ExactTime ExactSyncPolicy; - typedef mf::Synchronizer ExactSync; - typedef mf::sync_policies::ApproximateTime - ApproximateSyncPolicy; - typedef mf::Synchronizer ApproximateSync; + using ExactSyncPolicy = mf::sync_policies::ExactTime; + using ExactSync = mf::Synchronizer; + using ApproximateSyncPolicy = + mf::sync_policies::ApproximateTime; + using ApproximateSync = mf::Synchronizer; std::vector>> signal_subs_; std::vector>> roi_subs_; diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst index ee10774ab9140..a378f3c04c1f3 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst +++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_traffic_light_occlusion_predictor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(traffic_light_occlusion_predictor): fix cppcheck warnings of functionStatic (`#8258 `_) +* fix(traffic_light_occlusion_predictor): fix cppcheck warnings of functionStatic (`#8258 `_) fix: deal with functionStatic warnings -* fix(autoware_traffic_light_occlusion_predictor): fix functionConst (`#8286 `_) +* fix(autoware_traffic_light_occlusion_predictor): fix functionConst (`#8286 `_) fix:functionConst -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml index a98c29d5e7af5..bebe2ae189e74 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/package.xml +++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml @@ -6,6 +6,7 @@ The autoware_traffic_light_occlusion_predictor package Tao Zhong Shunsuke Miura + Masato Saeki Apache License 2.0 ament_cmake_auto @@ -14,6 +15,7 @@ autoware_lanelet2_extension autoware_map_msgs + autoware_traffic_light_utils autoware_universe_utils geometry_msgs image_geometry @@ -26,7 +28,6 @@ tf2_eigen tf2_ros tier4_perception_msgs - traffic_light_utils ament_lint_auto autoware_lint_common diff --git a/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp b/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp index 8bc11fdea2aad..16498eb4d7094 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp +++ b/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp @@ -117,7 +117,8 @@ void TrafficLightOcclusionPredictorNode::mapCallback( continue; } lanelet::ConstLineString3d string3d = static_cast(lsp); - traffic_light_position_map_[lsp.id()] = traffic_light_utils::getTrafficLightCenter(string3d); + traffic_light_position_map_[lsp.id()] = + autoware::traffic_light_utils::getTrafficLightCenter(string3d); } } } @@ -166,7 +167,7 @@ void TrafficLightOcclusionPredictorNode::syncCallback( out_msg_.signals.push_back(in_signal_msg->signals.at(i)); if (occlusion_ratios[i] >= config_.max_occlusion_ratio) { - traffic_light_utils::setSignalUnknown(out_msg_.signals.at(predicted_num + i), 0.0); + autoware::traffic_light_utils::setSignalUnknown(out_msg_.signals.at(predicted_num + i), 0.0); } } diff --git a/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp b/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp index 5ee4876a6abbf..bc3afcac8db13 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp +++ b/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp @@ -17,9 +17,9 @@ #include "occlusion_predictor.hpp" +#include #include #include -#include #include #include diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst index 562b1774f7597..2da3f57f659e5 100644 --- a/perception/autoware_traffic_light_visualization/CHANGELOG.rst +++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst @@ -5,26 +5,26 @@ Changelog for package autoware_traffic_light_visualization 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fix documentation for traffic light visualization (`#8303 `_) +* fix(docs): fix documentation for traffic light visualization (`#8303 `_) fix docs traffic light visualization -* fix(autoware_traffic_light_visualization): fix to visualize correct color and shapes (`#8428 `_) +* fix(autoware_traffic_light_visualization): fix to visualize correct color and shapes (`#8428 `_) fix(autoware_traffic_light_visualization): fix vialization to draw correct shapes Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> -* fix(traffic_light_visualization): fix funcArgNamesDifferent (`#8156 `_) +* fix(traffic_light_visualization): fix funcArgNamesDifferent (`#8156 `_) fix:funcArgNamesDifferent -* fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs (`#8294 `_) +* fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs (`#8294 `_) * fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs * fix precommit * fix --------- -* fix(autoware_traffic_light_visualization): fix passedByValue (`#8241 `_) +* fix(autoware_traffic_light_visualization): fix passedByValue (`#8241 `_) fix:passedByValue -* feat(traffic_light_roi_visualizer): add an option to use normal publisher instead of image tranport in traffic light roi visualizer (`#8157 `_) +* feat(traffic_light_roi_visualizer): add an option to use normal publisher instead of image tranport in traffic light roi visualizer (`#8157 `_) * apply new parameter schemes, set default parameters add an option to use normal publisher instead of image tranport in traffic light roi visualizer * small fix on default value --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_visualization/CMakeLists.txt b/perception/autoware_traffic_light_visualization/CMakeLists.txt index 4db2163e81932..f14f0e292b0ba 100644 --- a/perception/autoware_traffic_light_visualization/CMakeLists.txt +++ b/perception/autoware_traffic_light_visualization/CMakeLists.txt @@ -11,6 +11,10 @@ ament_auto_add_library(traffic_light_roi_visualizer SHARED src/traffic_light_roi_visualizer/shape_draw.cpp ) +target_include_directories(traffic_light_roi_visualizer SYSTEM PUBLIC + ${OpenCV_INCLUDE_DIRS} +) + target_link_libraries(traffic_light_roi_visualizer ${OpenCV_LIBRARIES} ) diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml index d96dc2995eb0d..afe09b9461b18 100644 --- a/perception/autoware_traffic_light_visualization/package.xml +++ b/perception/autoware_traffic_light_visualization/package.xml @@ -6,6 +6,7 @@ The autoware_traffic_light_visualization package Yukihiro Saito Tao Zhong + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst index f3a85f462cc4d..fbe74bbf6d28a 100644 --- a/perception/perception_utils/CHANGELOG.rst +++ b/perception/perception_utils/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package perception_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(perception_utils): add unit test (`#8414 `_) -* feat(perception_utils)!: move perception_utils from common to perception folder (`#8748 `_) +* chore(perception_utils): add unit test (`#8414 `_) +* feat(perception_utils)!: move perception_utils from common to perception folder (`#8748 `_) feat: move perception utils which is only used in perception Co-authored-by: yoshiri * Contributors: Shintaro Tomie, Yutaka Kondo, badai nguyen diff --git a/perception/perception_utils/CMakeLists.txt b/perception/perception_utils/CMakeLists.txt index e4b581928cc5e..5623d830918fe 100644 --- a/perception/perception_utils/CMakeLists.txt +++ b/perception/perception_utils/CMakeLists.txt @@ -13,6 +13,11 @@ target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ) +install( + DIRECTORY include/ + DESTINATION include +) + if(BUILD_TESTING) ament_auto_add_gtest(test_utils test/test_utils.cpp diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst index 42b9570bde861..58250e160fee9 100644 --- a/planning/autoware_costmap_generator/CHANGELOG.rst +++ b/planning/autoware_costmap_generator/CHANGELOG.rst @@ -5,32 +5,32 @@ Changelog for package autoware_costmap_generator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(costmap_generator): fix include for grid_map_utils (`#9179 `_) -* perf(costmap_generator): manual blurring and fill polygons without OpenCV (`#9160 `_) -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* fix(costmap_generator): fix include for grid_map_utils (`#9179 `_) +* perf(costmap_generator): manual blurring and fill polygons without OpenCV (`#9160 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* perf(costmap_generator): prevent long transform lookup and add timekeeper (`#8886 `_) -* feat(costmap_generator): integrate generate_parameter_library (`#8827 `_) +* perf(costmap_generator): prevent long transform lookup and add timekeeper (`#8886 `_) +* feat(costmap_generator): integrate generate_parameter_library (`#8827 `_) * add parameter description * use parameter listener * append global identifier * suppress deprecated error * fix parameter type --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(autoware_costmap_generator): fix unusedFunction (`#8641 `_) +* fix(autoware_costmap_generator): fix unusedFunction (`#8641 `_) fix:unusedFunction -* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) +* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) refactor(costmap_generator): add autoware prefix * Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Mitsuhiro Sakamoto, Yutaka Kondo, Zhe Shen, kobayu858 diff --git a/planning/autoware_costmap_generator/CMakeLists.txt b/planning/autoware_costmap_generator/CMakeLists.txt index 4978f7e54df6a..59ec264ea3d1e 100644 --- a/planning/autoware_costmap_generator/CMakeLists.txt +++ b/planning/autoware_costmap_generator/CMakeLists.txt @@ -16,9 +16,9 @@ include_directories( ) ament_auto_add_library(costmap_generator_lib SHARED - nodes/autoware_costmap_generator/points_to_costmap.cpp - nodes/autoware_costmap_generator/objects_to_costmap.cpp - nodes/autoware_costmap_generator/object_map_utils.cpp + src/utils/points_to_costmap.cpp + src/utils/objects_to_costmap.cpp + src/utils/object_map_utils.cpp ) target_link_libraries(costmap_generator_lib ${PCL_LIBRARIES} @@ -37,7 +37,7 @@ generate_parameter_library(costmap_generator_node_parameters ) ament_auto_add_library(costmap_generator_node SHARED - nodes/autoware_costmap_generator/costmap_generator_node.cpp + src/costmap_generator.cpp ) target_link_libraries(costmap_generator_node ${PCL_LIBRARIES} @@ -56,25 +56,29 @@ rclcpp_components_register_node(costmap_generator_node if(BUILD_TESTING) find_package(ament_cmake_ros REQUIRED) - ament_add_ros_isolated_gtest(test_points_to_costmap + ament_add_ros_isolated_gtest(test_costmap_generator_lib test/test_points_to_costmap.cpp + test/test_objects_to_costmap.cpp + test/test_object_map_utils.cpp ) - - target_link_libraries(test_points_to_costmap + target_link_libraries(test_costmap_generator_lib costmap_generator_lib ) - ament_add_ros_isolated_gtest(test_objects_to_costmap - test/test_objects_to_costmap.cpp + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_costmap_generator.cpp ) - - target_link_libraries(test_objects_to_costmap - costmap_generator_lib + target_link_libraries(test_${PROJECT_NAME} + costmap_generator_node + costmap_generator_node_parameters + ) + target_compile_options(test_${PROJECT_NAME} PUBLIC + -Wno-error=deprecated-declarations ) endif() ament_auto_package( - INSTALL_TO_SHARE - launch - config + INSTALL_TO_SHARE + launch + config ) diff --git a/planning/autoware_costmap_generator/README.md b/planning/autoware_costmap_generator/README.md index cb298195a82a1..78ce05cc46dc9 100644 --- a/planning/autoware_costmap_generator/README.md +++ b/planning/autoware_costmap_generator/README.md @@ -50,8 +50,8 @@ None | `grid_length_y` | int | size of gridmap for y direction | | `grid_position_x` | int | offset from coordinate in x direction | | `grid_position_y` | int | offset from coordinate in y direction | -| `maximum_lidar_height_thres` | double | maximum height threshold for pointcloud data | -| `minimum_lidar_height_thres` | double | minimum height threshold for pointcloud data | +| `maximum_lidar_height_thres` | double | maximum height threshold for pointcloud data (relative to the vehicle_frame) | +| `minimum_lidar_height_thres` | double | minimum height threshold for pointcloud data (relative to the vehicle_frame) | | `expand_rectangle_size` | double | expand object's rectangle with this value | | `size_of_expansion_kernel` | int | kernel size for blurring effect on object's costmap | diff --git a/planning/autoware_costmap_generator/config/costmap_generator.param.yaml b/planning/autoware_costmap_generator/config/costmap_generator.param.yaml index dc2e74deb3ef9..f3abb62e34b0f 100644 --- a/planning/autoware_costmap_generator/config/costmap_generator.param.yaml +++ b/planning/autoware_costmap_generator/config/costmap_generator.param.yaml @@ -12,8 +12,8 @@ grid_length_y: 70.0 grid_position_x: 0.0 grid_position_y: 0.0 - maximum_lidar_height_thres: 0.3 - minimum_lidar_height_thres: -2.2 + maximum_lidar_height_thres: 2.5 # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame) + minimum_lidar_height_thres: 0.0 # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame) use_wayarea: true use_parkinglot: true use_objects: true diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp similarity index 82% rename from planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp rename to planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp index a26589775ff3e..72b56f0348a40 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp @@ -42,13 +42,14 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#ifndef AUTOWARE_COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ -#define AUTOWARE_COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ +#ifndef AUTOWARE__COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ +#define AUTOWARE__COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ -#include "autoware_costmap_generator/objects_to_costmap.hpp" -#include "autoware_costmap_generator/points_to_costmap.hpp" +#include "autoware/costmap_generator/utils/objects_to_costmap.hpp" +#include "autoware/costmap_generator/utils/points_to_costmap.hpp" #include "costmap_generator_node_parameters.hpp" +#include #include #include #include @@ -72,8 +73,12 @@ #include #include +class TestCostmapGenerator; + namespace autoware::costmap_generator { +using autoware_perception_msgs::msg::PredictedObjects; + class CostmapGenerator : public rclcpp::Node { public: @@ -82,9 +87,10 @@ class CostmapGenerator : public rclcpp::Node private: std::shared_ptr<::costmap_generator_node::ParamListener> param_listener_; std::shared_ptr<::costmap_generator_node::Params> param_; + geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_; lanelet::LaneletMapPtr lanelet_map_; - autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_; + PredictedObjects::ConstSharedPtr objects_; sensor_msgs::msg::PointCloud2::ConstSharedPtr points_; grid_map::GridMap costmap_; @@ -95,10 +101,13 @@ class CostmapGenerator : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_processing_time_; rclcpp::Publisher::SharedPtr pub_processing_time_ms_; - rclcpp::Subscription::SharedPtr sub_points_; - rclcpp::Subscription::SharedPtr sub_objects_; rclcpp::Subscription::SharedPtr sub_lanelet_bin_map_; - rclcpp::Subscription::SharedPtr sub_scenario_; + autoware::universe_utils::InterProcessPollingSubscriber + sub_points_{this, "~/input/points_no_ground", autoware::universe_utils::SingleDepthSensorQoS()}; + autoware::universe_utils::InterProcessPollingSubscriber sub_objects_{ + this, "~/input/objects"}; + autoware::universe_utils::InterProcessPollingSubscriber + sub_scenario_{this, "~/input/scenario"}; rclcpp::TimerBase::SharedPtr timer_; @@ -126,17 +135,9 @@ class CostmapGenerator : public rclcpp::Node /// \brief callback for loading lanelet2 map void onLaneletMapBin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg); - /// \brief callback for DynamicObjectArray - /// \param[in] in_objects input DynamicObjectArray usually from prediction or perception - /// component - void onObjects(const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg); + void update_data(); - /// \brief callback for sensor_msgs::PointCloud2 - /// \param[in] in_points input sensor_msgs::PointCloud2. Assuming ground-filtered pointcloud - /// by default - void onPoints(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg); - - void onScenario(const tier4_planning_msgs::msg::Scenario::ConstSharedPtr msg); + void set_current_pose(); void onTimer(); @@ -165,13 +166,13 @@ class CostmapGenerator : public rclcpp::Node /// \brief calculate cost from pointcloud data /// \param[in] in_points: subscribed pointcloud data + /// \param[in] vehicle_to_map_z: z value of the ego vehicle in the costmap frame grid_map::Matrix generatePointsCostmap( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr & in_points); + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & in_points, const double vehicle_to_map_z); /// \brief calculate cost from DynamicObjectArray /// \param[in] in_objects: subscribed DynamicObjectArray - grid_map::Matrix generateObjectsCostmap( - const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects); + grid_map::Matrix generateObjectsCostmap(const PredictedObjects::ConstSharedPtr in_objects); /// \brief calculate cost from lanelet2 map grid_map::Matrix generatePrimitivesCostmap(); @@ -181,7 +182,9 @@ class CostmapGenerator : public rclcpp::Node /// \brief measure processing time autoware::universe_utils::StopWatch stop_watch; + + friend class ::TestCostmapGenerator; }; } // namespace autoware::costmap_generator -#endif // AUTOWARE_COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ +#endif // AUTOWARE__COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/object_map_utils.hpp similarity index 80% rename from planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp rename to planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/object_map_utils.hpp index 737af55aa0b92..e68162f18efbe 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/object_map_utils.hpp @@ -30,8 +30,8 @@ * */ -#ifndef AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ -#define AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ +#ifndef AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECT_MAP_UTILS_HPP_ +#define AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECT_MAP_UTILS_HPP_ #include #include @@ -55,16 +55,12 @@ namespace autoware::costmap_generator::object_map * @param[in] in_grid_layer_name Name to assign to the layer * @param[in] in_layer_background_value Empty state value * @param[in] in_fill_value Value to fill inside the given polygons - * @param[in] in_tf_target_frame Target frame to transform the points - * @param[in] in_tf_source_frame Source frame, where the points are located - * @param[in] in_tf_listener Valid listener to obtain the transformation */ void fill_polygon_areas( grid_map::GridMap & out_grid_map, const std::vector & in_polygons, const std::string & in_grid_layer_name, const float in_layer_background_value, - const float in_fill_value, const std::string & in_tf_target_frame, - const std::string & in_tf_source_frame, const tf2_ros::Buffer & in_tf_buffer); + const float in_fill_value); } // namespace autoware::costmap_generator::object_map -#endif // AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ +#endif // AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECT_MAP_UTILS_HPP_ diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/objects_to_costmap.hpp similarity index 96% rename from planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp rename to planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/objects_to_costmap.hpp index a04e139fdaa6e..955c39169e962 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/objects_to_costmap.hpp @@ -42,8 +42,8 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#ifndef AUTOWARE_COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ -#define AUTOWARE_COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ +#ifndef AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECTS_TO_COSTMAP_HPP_ +#define AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECTS_TO_COSTMAP_HPP_ #include @@ -126,4 +126,4 @@ class ObjectsToCostmap grid_map::GridMap & objects_costmap); }; } // namespace autoware::costmap_generator -#endif // AUTOWARE_COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ +#endif // AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECTS_TO_COSTMAP_HPP_ diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/points_to_costmap.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp similarity index 95% rename from planning/autoware_costmap_generator/include/autoware_costmap_generator/points_to_costmap.hpp rename to planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp index 0e3abbd69ec20..1cf3365b0f344 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/points_to_costmap.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp @@ -42,8 +42,8 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#ifndef AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ -#define AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ +#ifndef AUTOWARE__COSTMAP_GENERATOR__UTILS__POINTS_TO_COSTMAP_HPP_ +#define AUTOWARE__COSTMAP_GENERATOR__UTILS__POINTS_TO_COSTMAP_HPP_ #include @@ -79,8 +79,6 @@ class PointsToCostmap double grid_resolution_; double grid_position_x_; double grid_position_y_; - double y_cell_size_; - double x_cell_size_; /// \brief initialize gridmap parameters /// \param[in] gridmap: gridmap object to be initialized @@ -120,4 +118,4 @@ class PointsToCostmap }; } // namespace autoware::costmap_generator -#endif // AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ +#endif // AUTOWARE__COSTMAP_GENERATOR__UTILS__POINTS_TO_COSTMAP_HPP_ diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index db2ad24c0c773..8779c1e706123 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -19,6 +19,7 @@ autoware_lanelet2_extension autoware_map_msgs autoware_perception_msgs + autoware_test_utils autoware_universe_utils generate_parameter_library grid_map_ros diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp b/planning/autoware_costmap_generator/src/costmap_generator.cpp similarity index 84% rename from planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp rename to planning/autoware_costmap_generator/src/costmap_generator.cpp index 0a85f7520b317..d791836fa0a08 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp +++ b/planning/autoware_costmap_generator/src/costmap_generator.cpp @@ -42,14 +42,16 @@ * OF private_node SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#include "autoware_costmap_generator/costmap_generator.hpp" -#include "autoware_costmap_generator/object_map_utils.hpp" +#include "autoware/costmap_generator/costmap_generator.hpp" + +#include "autoware/costmap_generator/utils/object_map_utils.hpp" #include #include #include #include #include +#include #include #include @@ -135,6 +137,19 @@ pcl::PointCloud getTransformedPointCloud( return transformed_pointcloud; } +std::vector getTransformedPrimitives( + const std::vector & in_polygons, + const geometry_msgs::msg::TransformStamped & transform) +{ + std::vector out_polygons; + for (const auto & polygon : in_polygons) { + geometry_msgs::msg::Polygon transformed_polygon; + tf2::doTransform(polygon, transformed_polygon, transform); + out_polygons.emplace_back(transformed_polygon); + } + return out_polygons; +} + } // namespace namespace autoware::costmap_generator @@ -146,30 +161,10 @@ CostmapGenerator::CostmapGenerator(const rclcpp::NodeOptions & node_options) this->get_node_parameters_interface()); param_ = std::make_shared<::costmap_generator_node::Params>(param_listener_->get_params()); - // Wait for first tf - // We want to do this before creating subscriptions - while (rclcpp::ok()) { - try { - tf_buffer_.lookupTransform("map", "base_link", tf2::TimePointZero); - break; - } catch (const tf2::TransformException & ex) { - RCLCPP_INFO(this->get_logger(), "waiting for initial pose..."); - } - rclcpp::sleep_for(std::chrono::milliseconds(5000)); - } - - // Subscribers - using std::placeholders::_1; - sub_objects_ = this->create_subscription( - "~/input/objects", 1, std::bind(&CostmapGenerator::onObjects, this, _1)); - sub_points_ = this->create_subscription( - "~/input/points_no_ground", rclcpp::SensorDataQoS(), - std::bind(&CostmapGenerator::onPoints, this, _1)); + // Lanelet map subscriber sub_lanelet_bin_map_ = this->create_subscription( "~/input/vector_map", rclcpp::QoS{1}.transient_local(), - std::bind(&CostmapGenerator::onLaneletMapBin, this, _1)); - sub_scenario_ = this->create_subscription( - "~/input/scenario", 1, std::bind(&CostmapGenerator::onScenario, this, _1)); + std::bind(&CostmapGenerator::onLaneletMapBin, this, std::placeholders::_1)); // Publishers pub_costmap_ = this->create_publisher("~/output/grid_map", 1); @@ -249,26 +244,27 @@ void CostmapGenerator::onLaneletMapBin( } } -void CostmapGenerator::onObjects( - const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg) -{ - objects_ = msg; -} - -void CostmapGenerator::onPoints(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) +void CostmapGenerator::update_data() { - points_ = msg; + objects_ = sub_objects_.takeData(); + points_ = sub_points_.takeData(); + scenario_ = sub_scenario_.takeData(); } -void CostmapGenerator::onScenario(const tier4_planning_msgs::msg::Scenario::ConstSharedPtr msg) +void CostmapGenerator::set_current_pose() { - scenario_ = msg; + current_pose_ = getCurrentPose(tf_buffer_, this->get_logger()); } void CostmapGenerator::onTimer() { + update_data(); + autoware::universe_utils::ScopedTimeTrack scoped_time_track(__func__, *time_keeper_); stop_watch.tic(); + + if (!param_->activate_by_scenario) set_current_pose(); + if (!isActive()) { // Publish ProcessingTime tier4_debug_msgs::msg::Float64Stamped processing_time_msg; @@ -308,7 +304,7 @@ void CostmapGenerator::onTimer() if (param_->use_points && points_) { autoware::universe_utils::ScopedTimeTrack st("generatePointsCostmap()", *time_keeper_); - costmap_[LayerName::points] = generatePointsCostmap(points_); + costmap_[LayerName::points] = generatePointsCostmap(points_, tf.transform.translation.z); } { @@ -326,19 +322,15 @@ bool CostmapGenerator::isActive() } if (param_->activate_by_scenario) { - if (scenario_) { - const auto & s = scenario_->activating_scenarios; - if ( - std::find(std::begin(s), std::end(s), tier4_planning_msgs::msg::Scenario::PARKING) != - std::end(s)) { - return true; - } - } - return false; + if (!scenario_) return false; + const auto & s = scenario_->activating_scenarios; + return std::any_of(s.begin(), s.end(), [](const auto scen) { + return scen == tier4_planning_msgs::msg::Scenario::PARKING; + }); } - const auto & current_pose_wrt_map = getCurrentPose(tf_buffer_, this->get_logger()); - if (!current_pose_wrt_map) return false; - return isInParkingLot(lanelet_map_, current_pose_wrt_map->pose); + + if (!current_pose_) return false; + return isInParkingLot(lanelet_map_, current_pose_->pose); } void CostmapGenerator::initGridmap() @@ -355,31 +347,33 @@ void CostmapGenerator::initGridmap() } grid_map::Matrix CostmapGenerator::generatePointsCostmap( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr & in_points) + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & in_points, const double vehicle_to_map_z) { geometry_msgs::msg::TransformStamped points2costmap; try { points2costmap = tf_buffer_.lookupTransform( param_->costmap_frame, in_points->header.frame_id, tf2::TimePointZero); } catch (const tf2::TransformException & ex) { - RCLCPP_ERROR(rclcpp::get_logger("costmap_generator"), "%s", ex.what()); + RCLCPP_ERROR_THROTTLE( + rclcpp::get_logger("costmap_generator"), *get_clock(), 1000, "%s", ex.what()); } const auto transformed_points = getTransformedPointCloud(*in_points, points2costmap.transform); + const auto maximum_height_thres = param_->maximum_lidar_height_thres + vehicle_to_map_z; + const auto minimum_height_thres = param_->minimum_lidar_height_thres + vehicle_to_map_z; grid_map::Matrix points_costmap = points2costmap_.makeCostmapFromPoints( - param_->maximum_lidar_height_thres, param_->minimum_lidar_height_thres, param_->grid_min_value, - param_->grid_max_value, costmap_, LayerName::points, transformed_points); + maximum_height_thres, minimum_height_thres, param_->grid_min_value, param_->grid_max_value, + costmap_, LayerName::points, transformed_points); return points_costmap; } -autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr transformObjects( - const tf2_ros::Buffer & tf_buffer, - const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects, +PredictedObjects::ConstSharedPtr transformObjects( + const tf2_ros::Buffer & tf_buffer, const PredictedObjects::ConstSharedPtr in_objects, const std::string & target_frame_id, const std::string & src_frame_id) { - auto objects = new autoware_perception_msgs::msg::PredictedObjects(); + auto objects = std::make_shared(); *objects = *in_objects; objects->header.frame_id = target_frame_id; @@ -398,11 +392,11 @@ autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr transformObjects object.kinematics.initial_pose_with_covariance.pose = output_stamped.pose; } - return autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr(objects); + return PredictedObjects::ConstSharedPtr(objects); } grid_map::Matrix CostmapGenerator::generateObjectsCostmap( - const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects) + const PredictedObjects::ConstSharedPtr in_objects) { const auto object_frame = in_objects->header.frame_id; const auto transformed_objects = @@ -417,11 +411,25 @@ grid_map::Matrix CostmapGenerator::generateObjectsCostmap( grid_map::Matrix CostmapGenerator::generatePrimitivesCostmap() { grid_map::GridMap lanelet2_costmap = costmap_; - if (!primitives_polygons_.empty()) { - object_map::fill_polygon_areas( - lanelet2_costmap, primitives_polygons_, LayerName::primitives, param_->grid_max_value, - param_->grid_min_value, param_->costmap_frame, param_->map_frame, tf_buffer_); + if (primitives_polygons_.empty()) { + return lanelet2_costmap[LayerName::primitives]; } + + geometry_msgs::msg::TransformStamped primitives2costmap; + try { + primitives2costmap = + tf_buffer_.lookupTransform(param_->costmap_frame, param_->map_frame, tf2::TimePointZero); + } catch (const tf2::TransformException & ex) { + RCLCPP_ERROR(rclcpp::get_logger("costmap_generator"), "%s", ex.what()); + } + + const auto transformed_primitives = + getTransformedPrimitives(primitives_polygons_, primitives2costmap); + + object_map::fill_polygon_areas( + lanelet2_costmap, transformed_primitives, LayerName::primitives, param_->grid_max_value, + param_->grid_min_value); + return lanelet2_costmap[LayerName::primitives]; } diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp b/planning/autoware_costmap_generator/src/utils/object_map_utils.cpp similarity index 79% rename from planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp rename to planning/autoware_costmap_generator/src/utils/object_map_utils.cpp index 1b8764e4d3f1c..e4dcaccb4ed6d 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp +++ b/planning/autoware_costmap_generator/src/utils/object_map_utils.cpp @@ -30,7 +30,7 @@ * */ -#include "autoware_costmap_generator/object_map_utils.hpp" +#include "autoware/costmap_generator/utils/object_map_utils.hpp" #include #include @@ -46,23 +46,16 @@ namespace autoware::costmap_generator::object_map void fill_polygon_areas( grid_map::GridMap & out_grid_map, const std::vector & in_polygons, const std::string & in_grid_layer_name, const float in_layer_background_value, - const float in_fill_value, const std::string & in_tf_target_frame, - const std::string & in_tf_source_frame, const tf2_ros::Buffer & in_tf_buffer) + const float in_fill_value) { if (!out_grid_map.exists(in_grid_layer_name)) { out_grid_map.add(in_grid_layer_name); } out_grid_map[in_grid_layer_name].setConstant(in_layer_background_value); - const geometry_msgs::msg::TransformStamped transform = - in_tf_buffer.lookupTransform(in_tf_target_frame, in_tf_source_frame, tf2::TimePointZero); - for (const auto & poly : in_polygons) { - // transform from Map to GridMap coordinates - geometry_msgs::msg::Polygon transformed_poly; - tf2::doTransform(poly, transformed_poly, transform); grid_map::Polygon grid_map_poly; - for (const auto & p : transformed_poly.points) { + for (const auto & p : poly.points) { grid_map_poly.addVertex({p.x, p.y}); } for (grid_map_utils::PolygonIterator it(out_grid_map, grid_map_poly); !it.isPastEnd(); ++it) { diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp b/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp similarity index 99% rename from planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp rename to planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp index efa0ea6651632..bcd2e15fe9ca7 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp @@ -42,7 +42,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#include "autoware_costmap_generator/objects_to_costmap.hpp" +#include "autoware/costmap_generator/utils/objects_to_costmap.hpp" #include #include diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/points_to_costmap.cpp b/planning/autoware_costmap_generator/src/utils/points_to_costmap.cpp similarity index 98% rename from planning/autoware_costmap_generator/nodes/autoware_costmap_generator/points_to_costmap.cpp rename to planning/autoware_costmap_generator/src/utils/points_to_costmap.cpp index 723c27201ac8a..6b2dd2b20d672 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/points_to_costmap.cpp +++ b/planning/autoware_costmap_generator/src/utils/points_to_costmap.cpp @@ -42,7 +42,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#include "autoware_costmap_generator/points_to_costmap.hpp" +#include "autoware/costmap_generator/utils/points_to_costmap.hpp" #include #include diff --git a/planning/autoware_costmap_generator/test/test_costmap_generator.cpp b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp new file mode 100644 index 0000000000000..00c35e2514f43 --- /dev/null +++ b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp @@ -0,0 +1,170 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/costmap_generator/costmap_generator.hpp" + +#include +#include +#include + +#include + +using autoware::costmap_generator::CostmapGenerator; +using tier4_planning_msgs::msg::Scenario; + +class TestCostmapGenerator : public ::testing::Test +{ +public: + void SetUp() override + { + rclcpp::init(0, nullptr); + set_up_node(); + setup_lanelet_map(); + } + + void set_up_node() + { + auto node_options = rclcpp::NodeOptions{}; + const auto costmap_generator_dir = + ament_index_cpp::get_package_share_directory("autoware_costmap_generator"); + node_options.arguments( + {"--ros-args", "--params-file", + costmap_generator_dir + "/config/costmap_generator.param.yaml"}); + costmap_generator_ = std::make_shared(node_options); + } + + void setup_lanelet_map() + { + const auto lanelet2_path = autoware::test_utils::get_absolute_path_to_lanelet_map( + "autoware_test_utils", "overlap_map.osm"); + const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(lanelet2_path, 5.0); + lanelet_map_ = std::make_shared(); + lanelet::utils::conversion::fromBinMsg(map_bin_msg, lanelet_map_); + } + + [[nodiscard]] double get_grid_length_x() { return costmap_generator_->costmap_.getLength()[0]; } + + [[nodiscard]] double get_grid_length_y() { return costmap_generator_->costmap_.getLength()[1]; } + + [[nodiscard]] double get_grid_resolution() + { + return costmap_generator_->costmap_.getResolution(); + } + + [[nodiscard]] std::vector get_grid_layers() + { + return costmap_generator_->costmap_.getLayers(); + } + + size_t test_load_road_areas() + { + std::vector road_areas; + costmap_generator_->loadRoadAreasFromLaneletMap(lanelet_map_, road_areas); + return road_areas.size(); + } + + size_t test_load_parking_areas() + { + std::vector parking_areas; + costmap_generator_->loadParkingAreasFromLaneletMap(lanelet_map_, parking_areas); + return parking_areas.size(); + } + + bool test_is_active_by_pos( + const bool is_within_parking_lot = true, const bool no_lanelet_map = false) + { + costmap_generator_->lanelet_map_.reset(); + if (no_lanelet_map) { + return costmap_generator_->isActive(); + } + + costmap_generator_->lanelet_map_ = lanelet_map_; + costmap_generator_->param_->activate_by_scenario = false; + + geometry_msgs::msg::PoseStamped::SharedPtr p(new geometry_msgs::msg::PoseStamped()); + p->pose.position.x = 3697.07; + p->pose.position.y = 73735.49; + if (!is_within_parking_lot) { + p->pose.position.x += 10.0; + } + + costmap_generator_->current_pose_ = p; + return costmap_generator_->isActive(); + } + + bool test_is_active_by_scenario( + const bool is_parking_scenario = true, const bool no_lanelet_map = false) + { + costmap_generator_->lanelet_map_.reset(); + if (no_lanelet_map) { + return costmap_generator_->isActive(); + } + + costmap_generator_->lanelet_map_ = lanelet_map_; + costmap_generator_->param_->activate_by_scenario = true; + + Scenario scenario; + scenario.current_scenario = is_parking_scenario ? Scenario::PARKING : Scenario::LANEDRIVING; + if (is_parking_scenario) { + scenario.activating_scenarios.push_back(Scenario::PARKING); + } + + costmap_generator_->scenario_ = std::make_shared(scenario); + return costmap_generator_->isActive(); + } + + void TearDown() override + { + rclcpp::shutdown(); + costmap_generator_ = nullptr; + lanelet_map_ = nullptr; + } + + std::shared_ptr costmap_generator_; + lanelet::LaneletMapPtr lanelet_map_; +}; + +TEST_F(TestCostmapGenerator, testInitializeGridmap) +{ + const double grid_resolution = get_grid_resolution(); + const double grid_length_x = get_grid_length_x(); + const double grid_length_y = get_grid_length_y(); + EXPECT_FLOAT_EQ(grid_resolution, 0.3); + EXPECT_TRUE(70.0 - grid_length_x < grid_resolution); + EXPECT_TRUE(70.0 - grid_length_y < grid_resolution); + + const auto grid_layers = get_grid_layers(); + + EXPECT_TRUE(std::find(grid_layers.begin(), grid_layers.end(), "points") != grid_layers.end()); + EXPECT_TRUE(std::find(grid_layers.begin(), grid_layers.end(), "objects") != grid_layers.end()); + EXPECT_TRUE(std::find(grid_layers.begin(), grid_layers.end(), "primitives") != grid_layers.end()); + EXPECT_TRUE(std::find(grid_layers.begin(), grid_layers.end(), "combined") != grid_layers.end()); +} + +TEST_F(TestCostmapGenerator, testLoadAreasFromLaneletMap) +{ + EXPECT_EQ(test_load_road_areas(), 12ul); + EXPECT_EQ(test_load_parking_areas(), 10ul); +} + +TEST_F(TestCostmapGenerator, testIsActive) +{ + EXPECT_TRUE(test_is_active_by_pos()); + EXPECT_FALSE(test_is_active_by_pos(false)); + EXPECT_FALSE(test_is_active_by_pos(true, true)); + + EXPECT_TRUE(test_is_active_by_scenario()); + EXPECT_FALSE(test_is_active_by_scenario(false)); + EXPECT_FALSE(test_is_active_by_scenario(true, true)); +} diff --git a/planning/autoware_costmap_generator/test/test_object_map_utils.cpp b/planning/autoware_costmap_generator/test/test_object_map_utils.cpp new file mode 100644 index 0000000000000..a20c2326d2757 --- /dev/null +++ b/planning/autoware_costmap_generator/test/test_object_map_utils.cpp @@ -0,0 +1,93 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include + +namespace +{ +grid_map::GridMap construct_gridmap( + const double length_x, const double length_y, const double resolution, const double position_x, + const double position_y) +{ + grid_map::GridMap gm; + + gm.setFrameId("map"); + // set gridmap size,resolution + gm.setGeometry(grid_map::Length(length_x, length_y), resolution); + // center of grid to position p in map frame + gm.setPosition(grid_map::Position(position_x, position_y)); + + // set initial value + gm.add("primitives", 0); + + return gm; +} + +geometry_msgs::msg::Polygon get_primitive_polygon( + const double min_x, const double min_y, const double max_x, const double max_y) +{ + const auto get_point = [](const double x, const double y) { + geometry_msgs::msg::Point32 point; + point.x = x; + point.y = y; + point.z = 0.0; + return point; + }; + geometry_msgs::msg::Polygon polygon; + polygon.points.push_back(get_point(min_x, min_y)); + polygon.points.push_back(get_point(min_x, max_y)); + polygon.points.push_back(get_point(max_x, max_y)); + polygon.points.push_back(get_point(max_x, min_y)); + return polygon; +} +} // namespace + +namespace autoware::costmap_generator +{ +TEST(ObjectMapUtilsTest, testFillPolygonAreas) +{ + const double grid_length_x = 21; + const double grid_length_y = 21; + const double grid_resolution = 1.0; + const double grid_position_x = 0.0; + const double grid_position_y = 0.0; + grid_map::GridMap gridmap = construct_gridmap( + grid_length_x, grid_length_y, grid_resolution, grid_position_x, grid_position_y); + + std::vector primitives_polygons; + primitives_polygons.emplace_back(get_primitive_polygon(-15.0, -2.0, 15.0, 2.0)); + primitives_polygons.emplace_back(get_primitive_polygon(-5.0, -5.0, 5.0, 5.0)); + + const double min_value = 0.0; + const double max_value = 1.0; + + object_map::fill_polygon_areas(gridmap, primitives_polygons, "primitives", max_value, min_value); + + const auto costmap = gridmap["primitives"]; + + int empty_grid_cell_num = 0; + for (int i = 0; i < costmap.rows(); i++) { + for (int j = 0; j < costmap.cols(); j++) { + if (costmap(i, j) == min_value) { + empty_grid_cell_num += 1; + } + } + } + + EXPECT_EQ(empty_grid_cell_num, 144); +} +} // namespace autoware::costmap_generator diff --git a/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp index 8d437865b8793..4ab5a32e77028 100644 --- a/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp @@ -12,14 +12,31 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include +#include #include #include +#include + +namespace +{ +geometry_msgs::msg::Point32 toPoint32(const geometry_msgs::msg::Pose & pose) +{ + geometry_msgs::msg::Point32 point; + point.x = pose.position.x; + point.y = pose.position.y; + point.z = pose.position.z; + return point; +} +} // namespace namespace autoware::costmap_generator { using LABEL = autoware_perception_msgs::msg::ObjectClassification; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::Shape; class ObjectsToCostMapTest : public ::testing::Test { @@ -30,6 +47,10 @@ class ObjectsToCostMapTest : public ::testing::Test grid_map::GridMap construct_gridmap(); + [[nodiscard]] PredictedObject get_object( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 dimension, + const bool box_type = true) const; + public: double grid_resolution_ = 1; double grid_length_x_ = 21; @@ -60,6 +81,38 @@ grid_map::GridMap ObjectsToCostMapTest::construct_gridmap() return gm; } +PredictedObject ObjectsToCostMapTest::get_object( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 dimension, + const bool box_type) const +{ + PredictedObject object; + object.classification.push_back(LABEL{}); + object.classification.at(0).label = LABEL::CAR; + object.classification.at(0).probability = 0.8; + object.kinematics.initial_pose_with_covariance.pose = pose; + object.shape.dimensions = dimension; + if (box_type) { + object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + return object; + } + + object.shape.type = autoware_perception_msgs::msg::Shape::POLYGON; + + object.shape.footprint.points.emplace_back(toPoint32( + autoware::universe_utils::calcOffsetPose(pose, -0.5 * dimension.x, -0.5 * dimension.y, 0.0))); + + object.shape.footprint.points.emplace_back(toPoint32( + autoware::universe_utils::calcOffsetPose(pose, -0.5 * dimension.x, 0.5 * dimension.y, 0.0))); + + object.shape.footprint.points.emplace_back(toPoint32( + autoware::universe_utils::calcOffsetPose(pose, 0.5 * dimension.x, 0.5 * dimension.y, 0.0))); + + object.shape.footprint.points.emplace_back(toPoint32( + autoware::universe_utils::calcOffsetPose(pose, 0.5 * dimension.x, -0.5 * dimension.y, 0.0))); + + return object; +} + /* grid_y | @@ -69,29 +122,89 @@ grid_y | map_y |--------grid_x */ -TEST_F(ObjectsToCostMapTest, TestMakeCostmapFromObjects) +TEST_F(ObjectsToCostMapTest, TestMakeCostmapFromObjects_BoxType) { - auto objs = std::make_shared(); - autoware_perception_msgs::msg::PredictedObject object; + auto objs = std::make_shared(); + + geometry_msgs::msg::Pose obj_pose; + obj_pose.position.x = 1; + obj_pose.position.y = 2; + obj_pose.position.z = 1; + obj_pose.orientation.x = 0; + obj_pose.orientation.y = 0; + obj_pose.orientation.z = 0; + obj_pose.orientation.w = 1; + + geometry_msgs::msg::Vector3 dimension; + dimension.x = 5; + dimension.y = 3; + dimension.z = 2; + + const auto object = get_object(obj_pose, dimension); + objs->objects.push_back(object); - object.classification.push_back(autoware_perception_msgs::msg::ObjectClassification{}); - object.classification.at(0).label = LABEL::CAR; - object.classification.at(0).probability = 0.8; + grid_map::GridMap gridmap = construct_gridmap(); + ObjectsToCostmap objectsToCostmap; - object.kinematics.initial_pose_with_covariance.pose.position.x = 1; - object.kinematics.initial_pose_with_covariance.pose.position.y = 2; - object.kinematics.initial_pose_with_covariance.pose.position.z = 1; - // yaw=0 for easy test - object.kinematics.initial_pose_with_covariance.pose.orientation.x = 0; - object.kinematics.initial_pose_with_covariance.pose.orientation.y = 0; - object.kinematics.initial_pose_with_covariance.pose.orientation.z = 0; - object.kinematics.initial_pose_with_covariance.pose.orientation.w = 1; + const double expand_polygon_size = 0.0; + const double size_of_expansion_kernel = 1; // do not expand for easy test check + grid_map::Matrix objects_costmap = objectsToCostmap.makeCostmapFromObjects( + gridmap, expand_polygon_size, size_of_expansion_kernel, objs); - object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; - object.shape.dimensions.x = 5; - object.shape.dimensions.y = 3; - object.shape.dimensions.z = 2; + // yaw = 0,so we can just calculate like this easily + int expected_non_empty_cost_grid_num = + (object.shape.dimensions.x * object.shape.dimensions.y) / grid_resolution_; + // check if cost is correct + int non_empty_cost_grid_num = 0; + for (int i = 0; i < objects_costmap.rows(); i++) { + for (int j = 0; j < objects_costmap.cols(); j++) { + if (objects_costmap(i, j) == object.classification.at(0).probability) { + non_empty_cost_grid_num += 1; + } + } + } + + EXPECT_EQ(non_empty_cost_grid_num, expected_non_empty_cost_grid_num); + + float obj_center_x = + grid_length_x_ / 2 - object.kinematics.initial_pose_with_covariance.pose.position.x; + float obj_center_y = + grid_length_y_ / 2 - object.kinematics.initial_pose_with_covariance.pose.position.y; + float obj_left_x = obj_center_x - object.shape.dimensions.x / 2.; + float obj_right_x = obj_center_x + object.shape.dimensions.x / 2.; + float obj_bottom_y = obj_center_y - object.shape.dimensions.y / 2.; + float obj_top_y = obj_center_y + object.shape.dimensions.y / 2.; + int index_x_min = static_cast(obj_left_x / grid_resolution_); + int index_x_max = static_cast(obj_right_x / grid_resolution_); + int index_y_min = static_cast(obj_bottom_y / grid_resolution_); + int index_y_max = static_cast(obj_top_y / grid_resolution_); + for (int i = index_x_min; i < index_x_max; i++) { + for (int j = index_y_min; j < index_y_max; j++) { + EXPECT_DOUBLE_EQ(objects_costmap(i, j), object.classification.at(0).probability); + } + } +} + +TEST_F(ObjectsToCostMapTest, TestMakeCostmapFromObjects_PolygonType) +{ + auto objs = std::make_shared(); + + geometry_msgs::msg::Pose obj_pose; + obj_pose.position.x = 1; + obj_pose.position.y = 2; + obj_pose.position.z = 1; + obj_pose.orientation.x = 0; + obj_pose.orientation.y = 0; + obj_pose.orientation.z = 0; + obj_pose.orientation.w = 1; + + geometry_msgs::msg::Vector3 dimension; + dimension.x = 5; + dimension.y = 3; + dimension.z = 2; + + const auto object = get_object(obj_pose, dimension, false); objs->objects.push_back(object); grid_map::GridMap gridmap = construct_gridmap(); diff --git a/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp index 6c52e2dc6ce9d..b98479f43c2aa 100644 --- a/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst index 226a03012ddcf..d4e76a6d54d81 100644 --- a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst +++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_external_velocity_limit_selector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(external_velocity_limit_selector): integrate generate_parameter_library (`#8770 `_) +* feat(external_velocity_limit_selector): integrate generate_parameter_library (`#8770 `_) * add parameter description * use parameter listener --------- -* feat(external_velocity_limit_selector): rename to include/autoware/{package_name} (`#7516 `_) -* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) +* feat(external_velocity_limit_selector): rename to include/autoware/{package_name} (`#7516 `_) +* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) chore(autoware_external_velocity_limit_selector): rename * Contributors: Mitsuhiro Sakamoto, Satoshi OTA, Takayuki Murooka, Yutaka Kondo diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst index b485d82f7cf27..dd7f0ce0416ce 100644 --- a/planning/autoware_freespace_planner/CHANGELOG.rst +++ b/planning/autoware_freespace_planner/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_freespace_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(freespace_planner): make unit tests for member functions (`#9060 `_) +* test(freespace_planner): make unit tests for member functions (`#9060 `_) * refactor freespace planner * implement unit tests for freespace planner util functions * add freespace planner utils namespace @@ -14,7 +14,7 @@ Changelog for package autoware_freespace_planner * implement unit tests for FreespacePlanner member functions * add docstring for functions --------- -* test(freespace_planner): add unit tests for util functions (`#9059 `_) +* test(freespace_planner): add unit tests for util functions (`#9059 `_) * refactor freespace planner * add function is_near_target to freespace planner utils * add freespace planner utils namespace @@ -22,19 +22,19 @@ Changelog for package autoware_freespace_planner * implement unit tests for freespace planner util functions * add freespace planner utils namespace --------- -* refactor(freespace_planner): move functions to utils (`#9058 `_) +* refactor(freespace_planner): move functions to utils (`#9058 `_) * refactor freespace planner * add function is_near_target to freespace planner utils * add freespace planner utils namespace * fix function call --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(freespace_planner): fix free space planner spamming message (`#8614 `_) +* fix(freespace_planner): fix free space planner spamming message (`#8614 `_) check data availability only when scenario is active -* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) +* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -112,7 +112,7 @@ Changelog for package autoware_freespace_planner * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -178,7 +178,7 @@ Changelog for package autoware_freespace_planner * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) * refactor free space planner subscribers * implement scenario switching for edge cases * fix scenario selector test @@ -189,8 +189,8 @@ Changelog for package autoware_freespace_planner * improve near target logic * use timer based implementation for obstacle check --------- -* refactor(autoware_freespace_planner): rework parameters (`#8296 `_) -* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) +* refactor(autoware_freespace_planner): rework parameters (`#8296 `_) +* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -244,8 +244,8 @@ Changelog for package autoware_freespace_planner * suppress spell check --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(freespace_planner): disable randomly failing tests (`#8337 `_) -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* fix(freespace_planner): disable randomly failing tests (`#8337 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -278,14 +278,14 @@ Changelog for package autoware_freespace_planner * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -302,7 +302,7 @@ Changelog for package autoware_freespace_planner fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -314,7 +314,7 @@ Changelog for package autoware_freespace_planner * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -323,7 +323,7 @@ Changelog for package autoware_freespace_planner * fix formats * keep header and source file name as before --------- -* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) +* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) refactor(freespace_planner)!: add autoawre prefix * Contributors: Batuhan Beytekin, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, mkquda diff --git a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp index 55d7bf966b24f..1f5a52ca040a0 100644 --- a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp +++ b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp @@ -45,6 +45,7 @@ #include #include #include +#include #include #ifdef ROS_DISTRO_GALACTIC @@ -111,6 +112,7 @@ class FreespacePlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_pose_array_pub_; rclcpp::Publisher::SharedPtr debug_partial_pose_array_pub_; rclcpp::Publisher::SharedPtr parking_state_pub_; + rclcpp::Publisher::SharedPtr processing_time_pub_; rclcpp::Subscription::SharedPtr route_sub_; diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp index e1c199136827b..a937114e653c6 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp @@ -36,6 +36,7 @@ #include #include #include +#include #include #include @@ -94,6 +95,8 @@ FreespacePlannerNode::FreespacePlannerNode(const rclcpp::NodeOptions & node_opti debug_pose_array_pub_ = create_publisher("~/debug/pose_array", qos); debug_partial_pose_array_pub_ = create_publisher("~/debug/partial_pose_array", qos); parking_state_pub_ = create_publisher("is_completed", qos); + processing_time_pub_ = + create_publisher("~/debug/processing_time_ms", 1); } // TF @@ -277,6 +280,8 @@ bool FreespacePlannerNode::isDataReady() void FreespacePlannerNode::onTimer() { + autoware::universe_utils::StopWatch stop_watch; + scenario_ = scenario_sub_.takeData(); if (!utils::is_active(scenario_)) { reset(); @@ -355,6 +360,12 @@ void FreespacePlannerNode::onTimer() debug_partial_pose_array_pub_->publish(utils::trajectory_to_pose_array(partial_trajectory_)); is_new_parking_cycle_ = false; + + // Publish ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + processing_time_pub_->publish(processing_time_msg); } void FreespacePlannerNode::planTrajectory() diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp index e51a9e64601d3..2e0c461ae71c0 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp @@ -173,8 +173,8 @@ bool is_stopped( bool is_near_target(const Pose & target_pose, const Pose & current_pose, const double th_distance_m) { - const double long_disp_to_target = - autoware::universe_utils::calcLongitudinalDeviation(target_pose, current_pose.position); - return std::abs(long_disp_to_target) < th_distance_m; + const auto pose_dev = autoware::universe_utils::calcPoseDeviation(target_pose, current_pose); + return abs(pose_dev.yaw) < M_PI_2 && abs(pose_dev.longitudinal) < th_distance_m && + abs(pose_dev.lateral) < th_distance_m; } } // namespace autoware::freespace_planner::utils diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp index 7e8765070d077..534278a3b8dc8 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp @@ -153,9 +153,11 @@ TEST(FreespacePlannerUtilsTest, testIsNearTarget) const auto trajectory = get_trajectory(0ul); const auto target_pose = trajectory.points.back().pose; + static constexpr double eps = 0.01; auto current_pose = target_pose; current_pose.position.x -= 1.0; current_pose.position.y += 1.0; + current_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(M_PI_2 + eps); const double th_distance_m = 0.5; @@ -163,6 +165,14 @@ TEST(FreespacePlannerUtilsTest, testIsNearTarget) autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); current_pose.position.x += 0.6; + EXPECT_FALSE( + autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); + + current_pose.position.y -= 0.6; + EXPECT_FALSE( + autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); + + current_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(M_PI_4); EXPECT_TRUE( autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); } diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst index 46844268c82a4..7832350b16067 100644 --- a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst +++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_freespace_planning_algorithms 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) +* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -83,7 +83,7 @@ Changelog for package autoware_freespace_planning_algorithms * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -149,11 +149,11 @@ Changelog for package autoware_freespace_planning_algorithms * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(autoware_freespace_planning_algorithms): fix variableScope (`#8431 `_) +* fix(autoware_freespace_planning_algorithms): fix variableScope (`#8431 `_) fix: variableScope Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* chore(autoware_freespace_planning_algorithms): add missing dependency (`#8494 `_) -* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) +* chore(autoware_freespace_planning_algorithms): add missing dependency (`#8494 `_) +* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -207,13 +207,13 @@ Changelog for package autoware_freespace_planning_algorithms * suppress spell check --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(autoware_freespace_planning_algorithms): fix unreadVariable (`#8360 `_) +* fix(autoware_freespace_planning_algorithms): fix unreadVariable (`#8360 `_) * fix:unreadVariable * fix:clang format --------- -* fix(autoware_freespace_planning_algorithms): fix functionConst (`#8281 `_) +* fix(autoware_freespace_planning_algorithms): fix functionConst (`#8281 `_) fix:functionConst -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -246,28 +246,28 @@ Changelog for package autoware_freespace_planning_algorithms * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* fix(autoware_freespace_planning_algorithms): fix shadowVariable (`#7949 `_) +* fix(autoware_freespace_planning_algorithms): fix shadowVariable (`#7949 `_) * fix:shadowVariable * fix:shadowVariable * fix:shadowVariable --------- -* chore(freespace_planning_algorithm): modify A* script for standalone running (`#7070 `_) +* chore(freespace_planning_algorithm): modify A* script for standalone running (`#7070 `_) * modify astar for standalone running move clearNoe() from setMap to makePlan(). * small modification * run pre-commit --------- Co-authored-by: Takumi Ito -* feat(freespace_planning_algorithms): add is_back flag into the return of A* python wrapper (`#7831 `_) +* feat(freespace_planning_algorithms): add is_back flag into the return of A* python wrapper (`#7831 `_) add is_back flag to the return of getWaypoints Co-authored-by: Takumi Ito -* fix(autoware_freespace_planning_algorithms): fix syntaxError (`#7812 `_) -* fix(autoware_freespace_planning_algorithms): fix constStatement warning (`#7580 `_) -* fix(autoware_freespace_planning_algorithms): fix unusedScopedObject bug (`#7562 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(autoware_freespace_planning_algorithms): fix syntaxError (`#7812 `_) +* fix(autoware_freespace_planning_algorithms): fix constStatement warning (`#7580 `_) +* fix(autoware_freespace_planning_algorithms): fix unusedScopedObject bug (`#7562 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -284,7 +284,7 @@ Changelog for package autoware_freespace_planning_algorithms fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -319,7 +319,7 @@ Changelog for package autoware_freespace_planning_algorithms * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(freespace_planning_algorithms)!: add autoware prefix (`#7375 `_) +* refactor(freespace_planning_algorithms)!: add autoware prefix (`#7375 `_) * Contributors: Kosuke Takeuchi, M. Fatih Cırıt, Nagi70, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, TakumIto, Yutaka Kondo, kobayu858, mkquda 0.26.0 (2024-04-03) diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp index 34dcba0caaf01..8f0ff9a677ebd 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp @@ -69,8 +69,6 @@ class RRTStar : public AbstractPlanningAlgorithm // algorithm specific param const RRTStarParam rrtstar_param_; - - const VehicleShape original_vehicle_shape_; }; } // namespace autoware::freespace_planning_algorithms diff --git a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp index be27b0470dc6b..000b118214d9e 100644 --- a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp @@ -34,8 +34,7 @@ RRTStar::RRTStar( original_vehicle_shape.width + 2 * rrtstar_param.margin, original_vehicle_shape.base_length, original_vehicle_shape.max_steering, original_vehicle_shape.base2back + rrtstar_param.margin)), - rrtstar_param_(rrtstar_param), - original_vehicle_shape_(original_vehicle_shape) + rrtstar_param_(rrtstar_param) { if (rrtstar_param_.margin <= 0) { throw std::invalid_argument("rrt's collision margin must be greater than 0"); diff --git a/planning/autoware_mission_planner/CHANGELOG.rst b/planning/autoware_mission_planner/CHANGELOG.rst index 419200406e5f7..5859bddced76b 100644 --- a/planning/autoware_mission_planner/CHANGELOG.rst +++ b/planning/autoware_mission_planner/CHANGELOG.rst @@ -5,47 +5,47 @@ Changelog for package autoware_mission_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) +* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) * feat(mission_planner): reroute with current route start pose when triggered by modifed goal * check new ego goal is in original preffered lane as much as possible * check goal is in goal_lane --------- -* fix(mission_planner): return without change_route if new route is empty (`#9101 `_) +* fix(mission_planner): return without change_route if new route is empty (`#9101 `_) fix(mission_planner): return if new route is empty without change_route -* chore(mission_planner): fix typo (`#9053 `_) -* test(mission_planner): add test of default_planner (`#9050 `_) -* test(mission_planner): add unit tests of utility functions (`#9011 `_) -* refactor(mission_planner): move anonymous functions to utils and add namespace (`#9012 `_) +* chore(mission_planner): fix typo (`#9053 `_) +* test(mission_planner): add test of default_planner (`#9050 `_) +* test(mission_planner): add unit tests of utility functions (`#9011 `_) +* refactor(mission_planner): move anonymous functions to utils and add namespace (`#9012 `_) feat(mission_planner): move functions to utils and add namespace -* feat(mission_planner): add option to prevent rerouting in autonomous driving mode (`#8757 `_) -* feat(mission_planner): make the "goal inside lanes" function more robuts and add tests (`#8760 `_) -* fix(mission_planner): improve condition to check if the goal is within the lane (`#8710 `_) -* fix(autoware_mission_planner): fix unusedFunction (`#8642 `_) +* feat(mission_planner): add option to prevent rerouting in autonomous driving mode (`#8757 `_) +* feat(mission_planner): make the "goal inside lanes" function more robuts and add tests (`#8760 `_) +* fix(mission_planner): improve condition to check if the goal is within the lane (`#8710 `_) +* fix(autoware_mission_planner): fix unusedFunction (`#8642 `_) fix:unusedFunction -* fix(autoware_mission_planner): fix noConstructor (`#8505 `_) +* fix(autoware_mission_planner): fix noConstructor (`#8505 `_) fix:noConstructor -* fix(autoware_mission_planner): fix funcArgNamesDifferent (`#8017 `_) +* fix(autoware_mission_planner): fix funcArgNamesDifferent (`#8017 `_) fix:funcArgNamesDifferent -* feat(mission_planner): reroute in manual driving (`#7842 `_) +* feat(mission_planner): reroute in manual driving (`#7842 `_) * feat(mission_planner): reroute in manual driving * docs(mission_planner): update document * feat(mission_planner): fix operation mode state receiving check --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) +* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} --------- -* feat(mission_planner): use polling subscriber (`#7447 `_) -* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) +* feat(mission_planner): use polling subscriber (`#7447 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) * add flag to enable/disable loop check in getLaneletSequence functions * implement function to get closest route lanelet based on previous closest lanelet * refactor DefaultPlanner::plan function @@ -62,7 +62,7 @@ Changelog for package autoware_mission_planner * format fix * move test map to autoware_test_utils --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -71,7 +71,7 @@ Changelog for package autoware_mission_planner * fix formats * keep header and source file name as before --------- -* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) * refactor(mission_planner)!: add autoware prefix and namespace * fix svg --------- diff --git a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst index f7c56afd677d7..b70fabb1500db 100644 --- a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst +++ b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_objects_of_interest_marker_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) -* refactor(objects_of_interest_marker_interface)!: prefix package and namespace with autoware (`#7413 `_) +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(objects_of_interest_marker_interface)!: prefix package and namespace with autoware (`#7413 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst index 7023953ecc75f..65d4428bbcbb0 100644 --- a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_obstacle_cruise_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* chore(obstacle_cruise_planner): add maintainer (`#9077 `_) -* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (`#8072 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* chore(obstacle_cruise_planner): add maintainer (`#9077 `_) +* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (`#8072 `_) * feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out * cleanup, add stop safety margin for transient objects style(pre-commit): autofix @@ -20,28 +20,28 @@ Changelog for package autoware_obstacle_cruise_planner * feat: add predefined deceleration rate for VRUs * feat: update --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) +* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) fix(velocity_smoother): float type of processing time was wrong -* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) +* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) * add cruise and slow down diags to cruise planner * add cruise types * adjust planning eval --------- -* feat(obstacle_cruise_planner): prevent chattering when using point cloud (`#7861 `_) +* feat(obstacle_cruise_planner): prevent chattering when using point cloud (`#7861 `_) * prevent chattering of stop planning * Update planning/autoware_obstacle_cruise_planner/src/node.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * fix stop position oscillation --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner (`#7836 `_) +* feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner (`#7836 `_) add diagnostics publishing to cruise planner -* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) +* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) * add pointcloud to obstacle properties * add tf listener & pointcloud subscriber * add parameters for pointcloud obstacle @@ -113,35 +113,35 @@ Changelog for package autoware_obstacle_cruise_planner Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning in generateSlowDownTrajectory (`#7659 `_) -* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning (`#7656 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning in generateSlowDownTrajectory (`#7659 `_) +* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning (`#7656 `_) * fix(autoware_obstacle_cruise_planner): fix shadowVariable warning * fix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings (`#7620 `_) +* fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings (`#7620 `_) * fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings * fix --------- -* fix(autoware_obstacle_cruise_planner): fix unreadVariable warning (`#7627 `_) -* refactor(obstacle_cruise_planner): apply clang-tidy check (`#7553 `_) +* fix(autoware_obstacle_cruise_planner): fix unreadVariable warning (`#7627 `_) +* refactor(obstacle_cruise_planner): apply clang-tidy check (`#7553 `_) obstacle_cruise -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning (`#7541 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning (`#7541 `_) * fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning * delete unnecessary file * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_obstacle_cruise_planner): fix unusedScopedObject bug (`#7569 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_obstacle_cruise_planner): fix unusedScopedObject bug (`#7569 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(obstacle_cruise_planner): rename to include/autoware/{package_name} (`#7510 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* feat(obstacle_cruise_planner): rename to include/autoware/{package_name} (`#7510 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -153,7 +153,7 @@ Changelog for package autoware_obstacle_cruise_planner * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) +* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) * Contributors: Berkay Karaman, Esteve Fernandez, Koichi98, Kosuke Takeuchi, Mamoru Sobue, Mitsuhiro Sakamoto, Ryuta Kambe, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, danielsanchezaran 0.26.0 (2024-04-03) diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp index 0f35960c350a8..7bd4d37ba5797 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp @@ -25,12 +25,16 @@ #include -#include +#include +#include #include #include #include +using Metric = tier4_metric_msgs::msg::Metric; +using MetricArray = tier4_metric_msgs::msg::MetricArray; + struct PlannerData { rclcpp::Time current_time; @@ -293,9 +297,9 @@ struct DebugData MarkerArray cruise_wall_marker; MarkerArray slow_down_wall_marker; std::vector detection_polygons; - std::optional stop_reason_diag{std::nullopt}; - std::optional slow_down_reason_diag{std::nullopt}; - std::optional cruise_reason_diag{std::nullopt}; + std::optional> stop_metrics{std::nullopt}; + std::optional> slow_down_metrics{std::nullopt}; + std::optional> cruise_metrics{std::nullopt}; }; struct EgoNearestParam diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp index 099d80306bb4e..df46f32610150 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp @@ -23,7 +23,8 @@ #include "autoware/universe_utils/ros/update_param.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" -#include +#include +#include #include #include @@ -35,8 +36,9 @@ #include #include -using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; -using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; +using Metric = tier4_metric_msgs::msg::Metric; +using MetricArray = tier4_metric_msgs::msg::MetricArray; + class PlannerInterface { public: @@ -56,7 +58,7 @@ class PlannerInterface node.create_publisher("/planning/velocity_factors/obstacle_cruise", 1); stop_speed_exceeded_pub_ = node.create_publisher("~/output/stop_speed_exceeded", 1); - diagnostics_pub_ = node.create_publisher("/diagnostics", 10); + metrics_pub_ = node.create_publisher("~/metrics", 10); moving_object_speed_threshold = node.declare_parameter("slow_down.moving_object_speed_threshold"); @@ -64,8 +66,6 @@ class PlannerInterface node.declare_parameter("slow_down.moving_object_hysteresis_range"); } - PlannerInterface() = default; - void setParam( const bool enable_debug_info, const bool enable_calculation_time_info, const bool use_pointcloud, const double min_behavior_stop_margin, @@ -95,13 +95,13 @@ class PlannerInterface const std::vector & slow_down_obstacles, std::optional & vel_limit); - DiagnosticStatus makeEmptyDiagnostic(const std::string & reason); - DiagnosticStatus makeDiagnostic( - const std::string & reason, const std::optional & planner_data = std::nullopt, + std::vector makeMetrics( + const std::string & module_name, const std::string & reason, + const std::optional & planner_data = std::nullopt, const std::optional & stop_pose = std::nullopt, const std::optional & stop_obstacle = std::nullopt); - void publishDiagnostics(const rclcpp::Time & current_time); - void clearDiagnostics(); + void publishMetrics(const rclcpp::Time & current_time); + void clearMetrics(); void onParam(const std::vector & parameters) { @@ -148,7 +148,7 @@ class PlannerInterface rclcpp::Publisher::SharedPtr stop_reasons_pub_; rclcpp::Publisher::SharedPtr velocity_factors_pub_; rclcpp::Publisher::SharedPtr stop_speed_exceeded_pub_; - rclcpp::Publisher::SharedPtr diagnostics_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; // Vehicle Parameters autoware::vehicle_info_utils::VehicleInfo vehicle_info_; diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index d73f86d27a781..d8bf161ef866f 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -38,6 +38,7 @@ tf2 tf2_ros tier4_debug_msgs + tier4_metric_msgs tier4_planning_msgs visualization_msgs diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index 37b82ecb66e74..a6a029530b1a5 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -719,7 +719,7 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms // 8. Publish debug data published_time_publisher_->publish_if_subscribed(trajectory_pub_, output_traj.header.stamp); - planner_ptr_->publishDiagnostics(now()); + planner_ptr_->publishMetrics(now()); publishDebugMarker(); publishDebugInfo(); diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp index 3a24cfa7dcfe0..7bf0f67129a20 100644 --- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp @@ -199,7 +199,8 @@ std::vector OptimizationBasedPlanner::generateCruiseTrajectory( output.at(i).longitudinal_velocity_mps = 0.0; } prev_output_ = output; - debug_data_ptr_->cruise_reason_diag = makeDiagnostic("cruise", planner_data); + debug_data_ptr_->cruise_metrics = + makeMetrics("OptimizationBasedPlanner", "cruise", planner_data); return output; } else if (opt_position.size() == 1) { RCLCPP_DEBUG( @@ -256,7 +257,7 @@ std::vector OptimizationBasedPlanner::generateCruiseTrajectory( // Insert Closest Stop Point autoware::motion_utils::insertStopPoint(0, closest_stop_dist, output); - debug_data_ptr_->cruise_reason_diag = makeDiagnostic("cruise", planner_data); + debug_data_ptr_->cruise_metrics = makeMetrics("OptimizationBasedPlanner", "cruise", planner_data); prev_output_ = output; return output; } diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index fefe7fd06007e..80fb85d4e30c9 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -325,7 +325,7 @@ std::vector PIDBasedPlanner::planCruise( // cruise obstacle debug_data_ptr_->obstacles_to_cruise.push_back(cruise_obstacle_info->obstacle); - debug_data_ptr_->cruise_reason_diag = makeDiagnostic("cruise", planner_data); + debug_data_ptr_->cruise_metrics = makeMetrics("PIDBasedPlanner", "cruise", planner_data); } // do cruise planning diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index ba93efc1f10c4..140396a09e042 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -405,8 +405,8 @@ std::vector PlannerInterface::generateStopTrajectory( stop_reasons_pub_->publish(stop_reasons_msg); velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time, stop_pose)); // Store stop reason debug data - debug_data_ptr_->stop_reason_diag = - makeDiagnostic("stop", planner_data, stop_pose, *determined_stop_obstacle); + debug_data_ptr_->stop_metrics = + makeMetrics("PlannerInterface", "stop", planner_data, stop_pose, *determined_stop_obstacle); // Publish if ego vehicle will over run against the stop point with a limit acceleration const bool will_over_run = determined_zero_vel_dist.value() > @@ -677,8 +677,9 @@ std::vector PlannerInterface::generateSlowDownTrajectory( // Add debug data debug_data_ptr_->obstacles_to_slow_down.push_back(obstacle); - if (!debug_data_ptr_->slow_down_reason_diag.has_value()) { - debug_data_ptr_->slow_down_reason_diag = makeDiagnostic("slow_down", planner_data); + if (!debug_data_ptr_->stop_metrics.has_value()) { + debug_data_ptr_->slow_down_metrics = + makeMetrics("PlannerInterface", "slow_down", planner_data); } // update prev_slow_down_output_ @@ -837,89 +838,87 @@ PlannerInterface::calculateDistanceToSlowDownWithConstraints( filtered_dist_to_slow_down_start, filtered_dist_to_slow_down_end, feasible_slow_down_vel); } -DiagnosticStatus PlannerInterface::makeEmptyDiagnostic(const std::string & reason) -{ - // Create status - DiagnosticStatus status; - status.level = status.OK; - status.name = "obstacle_cruise_planner_" + reason; - diagnostic_msgs::msg::KeyValue key_value; - { - // Decision - key_value.key = "decision"; - key_value.value = "none"; - status.values.push_back(key_value); - } - - return status; -} - -DiagnosticStatus PlannerInterface::makeDiagnostic( - const std::string & reason, const std::optional & planner_data, +std::vector PlannerInterface::makeMetrics( + const std::string & module_name, const std::string & reason, + const std::optional & planner_data, const std::optional & stop_pose, const std::optional & stop_obstacle) { + auto metrics = std::vector(); + // Create status - DiagnosticStatus status; - status.level = status.OK; - status.name = "obstacle_cruise_planner_" + reason; - diagnostic_msgs::msg::KeyValue key_value; { // Decision - key_value.key = "decision"; - key_value.value = reason; - status.values.push_back(key_value); + Metric decision_metric; + decision_metric.name = module_name + "/decision"; + decision_metric.unit = "string"; + decision_metric.value = reason; + metrics.push_back(decision_metric); } if (stop_pose.has_value() && planner_data.has_value()) { // Stop info - key_value.key = "stop_position"; + Metric stop_position_metric; + stop_position_metric.name = module_name + "/stop_position"; + stop_position_metric.unit = "string"; const auto & p = stop_pose.value().position; - key_value.value = + stop_position_metric.value = "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; - status.values.push_back(key_value); - key_value.key = "stop_orientation"; + metrics.push_back(stop_position_metric); + + Metric stop_orientation_metric; + stop_orientation_metric.name = module_name + "/stop_orientation"; + stop_orientation_metric.unit = "string"; const auto & o = stop_pose.value().orientation; - key_value.value = "{" + std::to_string(o.w) + ", " + std::to_string(o.x) + ", " + - std::to_string(o.y) + ", " + std::to_string(o.z) + "}"; - status.values.push_back(key_value); + stop_orientation_metric.value = "{" + std::to_string(o.w) + ", " + std::to_string(o.x) + ", " + + std::to_string(o.y) + ", " + std::to_string(o.z) + "}"; + metrics.push_back(stop_orientation_metric); + const auto dist_to_stop_pose = autoware::motion_utils::calcSignedArcLength( planner_data.value().traj_points, planner_data.value().ego_pose.position, stop_pose.value().position); - key_value.key = "distance_to_stop_pose"; - key_value.value = std::to_string(dist_to_stop_pose); - status.values.push_back(key_value); + + Metric dist_to_stop_pose_metric; + dist_to_stop_pose_metric.name = module_name + "/distance_to_stop_pose"; + dist_to_stop_pose_metric.unit = "double"; + dist_to_stop_pose_metric.value = std::to_string(dist_to_stop_pose); + metrics.push_back(dist_to_stop_pose_metric); } if (stop_obstacle.has_value()) { // Obstacle info + Metric collision_point_metric; const auto & p = stop_obstacle.value().collision_point; - key_value.key = "collision_point"; - key_value.value = + collision_point_metric.name = module_name + "/collision_point"; + collision_point_metric.unit = "string"; + collision_point_metric.value = "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; - status.values.push_back(key_value); + metrics.push_back(collision_point_metric); } - - return status; + return metrics; } -void PlannerInterface::publishDiagnostics(const rclcpp::Time & current_time) +void PlannerInterface::publishMetrics(const rclcpp::Time & current_time) { // create array - DiagnosticArray diagnostics; - diagnostics.header.stamp = current_time; - diagnostics.header.frame_id = "map"; - const auto & d = debug_data_ptr_; - diagnostics.status = { - (d->stop_reason_diag) ? d->stop_reason_diag.value() : makeEmptyDiagnostic("stop"), - (d->slow_down_reason_diag) ? *(d->slow_down_reason_diag) : makeEmptyDiagnostic("slow_down"), - (d->cruise_reason_diag) ? d->cruise_reason_diag.value() : makeEmptyDiagnostic("cruise")}; - diagnostics_pub_->publish(diagnostics); - clearDiagnostics(); + MetricArray metrics_msg; + metrics_msg.stamp = current_time; + + auto addMetrics = [&metrics_msg](std::optional> & opt_metrics) { + if (opt_metrics) { + metrics_msg.metric_array.insert( + metrics_msg.metric_array.end(), opt_metrics->begin(), opt_metrics->end()); + } + }; + addMetrics(debug_data_ptr_->stop_metrics); + addMetrics(debug_data_ptr_->slow_down_metrics); + addMetrics(debug_data_ptr_->cruise_metrics); + metrics_pub_->publish(metrics_msg); + clearMetrics(); } -void PlannerInterface::clearDiagnostics() +void PlannerInterface::clearMetrics() { - debug_data_ptr_->stop_reason_diag = std::nullopt; - debug_data_ptr_->slow_down_reason_diag = std::nullopt; - debug_data_ptr_->cruise_reason_diag = std::nullopt; + debug_data_ptr_->stop_metrics = std::nullopt; + debug_data_ptr_->slow_down_metrics = std::nullopt; + debug_data_ptr_->cruise_metrics = std::nullopt; } diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst index d655436687f3d..cffc56e34f282 100644 --- a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst @@ -5,35 +5,35 @@ Changelog for package autoware_obstacle_stop_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) +* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) Register node plugin with autoware scoping -* fix(autoware_obstacle_stop_planner): fix unusedFunction (`#8643 `_) +* fix(autoware_obstacle_stop_planner): fix unusedFunction (`#8643 `_) fix:unusedFunction -* refactor(autoware_obstacle_stop_planner): rework parameters (`#7795 `_) -* fix(autoware_obstacle_stop_planner): fix cppcheck warning of functionStatic (`#8264 `_) +* refactor(autoware_obstacle_stop_planner): rework parameters (`#7795 `_) +* fix(autoware_obstacle_stop_planner): fix cppcheck warning of functionStatic (`#8264 `_) * fix: deal with functionStatic warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_obstacle_stop_planner): fix functionConst (`#8282 `_) +* fix(autoware_obstacle_stop_planner): fix functionConst (`#8282 `_) fix:functionConst -* fix(autoware_obstacle_stop_planner): fix passedByValue (`#8189 `_) +* fix(autoware_obstacle_stop_planner): fix passedByValue (`#8189 `_) fix:passedByValue -* fix(autoware_obstacle_stop_planner): fix funcArgNamesDifferent (`#8018 `_) +* fix(autoware_obstacle_stop_planner): fix funcArgNamesDifferent (`#8018 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) +* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) * refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware * style(pre-commit): autofix --------- diff --git a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp index ee2eadac6f780..82a4d5a7ec550 100644 --- a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp +++ b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp @@ -111,16 +111,6 @@ double getDistanceFromTwoPoint( } } -constexpr double sign(const double value) -{ - if (value > 0) { - return 1.0; - } else if (value < 0) { - return -1.0; - } else { - return 0.0; - } -} } // namespace namespace autoware::motion_planning @@ -573,7 +563,7 @@ double AdaptiveCruiseController::calcUpperVelocity( } double AdaptiveCruiseController::calcThreshDistToForwardObstacle( - const double current_vel, const double obj_vel) + const double current_vel, const double obj_vel) const { const double current_vel_min = std::max(1.0, std::fabs(current_vel)); const double obj_vel_min = std::max(0.0, obj_vel); @@ -590,7 +580,7 @@ double AdaptiveCruiseController::calcThreshDistToForwardObstacle( } double AdaptiveCruiseController::calcBaseDistToForwardObstacle( - const double current_vel, const double obj_vel) + const double current_vel, const double obj_vel) const { const double obj_vel_min = std::max(0.0, obj_vel); const double minimum_distance = param_.min_dist_standard; diff --git a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp index 7535986f1db85..ce57f585197ad 100644 --- a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp +++ b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp @@ -203,8 +203,8 @@ class AdaptiveCruiseController double estimateRoughPointVelocity(double current_vel); bool isObstacleVelocityHigh(const double obj_vel); double calcUpperVelocity(const double dist_to_col, const double obj_vel, const double self_vel); - double calcThreshDistToForwardObstacle(const double current_vel, const double obj_vel); - double calcBaseDistToForwardObstacle(const double current_vel, const double obj_vel); + double calcThreshDistToForwardObstacle(const double current_vel, const double obj_vel) const; + double calcBaseDistToForwardObstacle(const double current_vel, const double obj_vel) const; double calcTargetVelocity_P(const double target_dist, const double current_dist) const; static double calcTargetVelocity_I(const double target_dist, const double current_dist); double calcTargetVelocity_D(const double target_dist, const double current_dist); diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp index ac043dd895ea7..4400368cc3d70 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp @@ -77,7 +77,7 @@ class DebugValues * @brief get all the debug values as an std::array * @return array of all debug values */ - std::array(TYPE::SIZE)> getValues() const { return values_; } + const std::array(TYPE::SIZE)> & getValues() const { return values_; } /** * @brief set the given type to the given value * @param [in] type TYPE of the value diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst index 6cdcbc40561b3..17d9495050dbe 100644 --- a/planning/autoware_path_optimizer/CHANGELOG.rst +++ b/planning/autoware_path_optimizer/CHANGELOG.rst @@ -5,30 +5,30 @@ Changelog for package autoware_path_optimizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* chore(path_optimizer): add warn msg for exceptional behavior (`#9033 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* chore(path_optimizer): add warn msg for exceptional behavior (`#9033 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* fix(autoware_path_optimizer): fix unusedFunction (`#8644 `_) +* fix(autoware_path_optimizer): fix unusedFunction (`#8644 `_) fix:unusedFunction -* fix(autoware_path_optimizer): fix unreadVariable (`#8361 `_) +* fix(autoware_path_optimizer): fix unreadVariable (`#8361 `_) * fix:unreadVariable * fix:unreadVariable --------- -* fix(autoware_path_optimizer): fix passedByValue (`#8190 `_) +* fix(autoware_path_optimizer): fix passedByValue (`#8190 `_) fix:passedByValue -* fix(path_optimizer): revert the feature of publishing processing time (`#8160 `_) -* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) -* fix(autoware_path_optimizer): fix redundantContinue warnings (`#7577 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(path_optimizer): revert the feature of publishing processing time (`#8160 `_) +* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) +* fix(autoware_path_optimizer): fix redundantContinue warnings (`#7577 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -40,7 +40,7 @@ Changelog for package autoware_path_optimizer * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -75,15 +75,15 @@ Changelog for package autoware_path_optimizer * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index 5dd763494ada0..7c5b1e68e759a 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -34,9 +34,9 @@ ament_cmake_ros ament_index_python ament_lint_auto + autoware_fake_test_node autoware_lint_common autoware_testing - fake_test_node ament_cmake diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst index 7509615545191..ab5e23100f6cd 100644 --- a/planning/autoware_path_smoother/CHANGELOG.rst +++ b/planning/autoware_path_smoother/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_path_smoother 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* fix(autoware_path_smoother): fix passedByValue (`#8203 `_) +* fix(autoware_path_smoother): fix passedByValue (`#8203 `_) fix:passedByValue -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) +* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) * feat(path_smoother): rename to include/autoware/{package_name} * fix --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -33,7 +33,7 @@ Changelog for package autoware_path_smoother * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) * git mv * fix * fix launch diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index a9ead8e54d104..6c8b3efec678b 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -31,9 +31,9 @@ ament_cmake_ros ament_index_python ament_lint_auto + autoware_fake_test_node autoware_lint_common autoware_testing - fake_test_node ament_cmake diff --git a/planning/autoware_planning_test_manager/CHANGELOG.rst b/planning/autoware_planning_test_manager/CHANGELOG.rst index 72c97cfbe186a..67cf805f36426 100644 --- a/planning/autoware_planning_test_manager/CHANGELOG.rst +++ b/planning/autoware_planning_test_manager/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package autoware_planning_test_manager 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_test_utils): sanitizer header (`#9174 `_) -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(autoware_test_utils): sanitizer header (`#9174 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -27,7 +27,7 @@ Changelog for package autoware_planning_test_manager * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -36,16 +36,16 @@ Changelog for package autoware_planning_test_manager * fix formats * keep header and source file name as before --------- -* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) +* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) * add autoware\_ prefix to planning_validator * add prefix to package name in .pages * fix link of the image --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -56,19 +56,19 @@ Changelog for package autoware_planning_test_manager * fix: test * fix: test --------- -* docs(planning_test_utils): update purpose of the package and add lanelet map images (`#7077 `_) +* docs(planning_test_utils): update purpose of the package and add lanelet map images (`#7077 `_) * docs(planning_test_utils): Add explanation * remove autoware prefix from autoware planning test manager * fix document * remove implemented test part --------- -* refactor(planning_test_utils): remove route_handler dependencies (`#7005 `_) +* refactor(planning_test_utils): remove route_handler dependencies (`#7005 `_) * refactor(planning_test_utils): remove route_handler dependencies * style(pre-commit): autofix * Fix precommit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_planning_test_manager): rename package (`#6995 `_) +* refactor(autoware_planning_test_manager): rename package (`#6995 `_) * refactor(autoware_planning_test_manager): rename package * rename file * Add maintainer for planning test utils diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst index 6e1d71e8ebd17..7152b275dd5d9 100644 --- a/planning/autoware_planning_topic_converter/CHANGELOG.rst +++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_planning_topic_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(planning_topic_converter): rename to include/autoware/{package_name} (`#7515 `_) +* feat(planning_topic_converter): rename to include/autoware/{package_name} (`#7515 `_) * feat(planning_topic_converter): rename to include/autoware/{package_name} * fix --------- -* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) +* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) chore(autoware_planning_topic_converter): rename * Contributors: Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst index a220d59ecd982..7a8380f24cb8d 100644 --- a/planning/autoware_planning_validator/CHANGELOG.rst +++ b/planning/autoware_planning_validator/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package autoware_planning_validator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_planning_validator): fix unusedFunction (`#8646 `_) +* fix(autoware_planning_validator): fix unusedFunction (`#8646 `_) fix:unusedFunction -* fix(autoware_planning_validator): fix knownConditionTrueFalse (`#7817 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_planning_validator): fix knownConditionTrueFalse (`#7817 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(planning_validator): rename to include/autoware/{package_name} (`#7514 `_) +* feat(planning_validator): rename to include/autoware/{package_name} (`#7514 `_) * feat(planning_validator): rename to include/autoware/{package_name} * fix --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -29,7 +29,7 @@ Changelog for package autoware_planning_validator * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(planning_validator)!: rename directory name (`#7411 `_) +* refactor(planning_validator)!: rename directory name (`#7411 `_) change directory name * Contributors: Kosuke Takeuchi, Kyoichi Sugahara, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, kobayu858 diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst index 6130fa109d1a9..245fa0b4ef084 100644 --- a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst +++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_remaining_distance_time_calculator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: change remaning distance when the size of route is 1 (`#8852 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix: change remaning distance when the size of route is 1 (`#8852 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -26,7 +26,7 @@ Changelog for package autoware_remaining_distance_time_calculator * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -35,11 +35,11 @@ Changelog for package autoware_remaining_distance_time_calculator * fix formats * keep header and source file name as before --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) * Contributors: Ahmed Ebrahim, Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, mkquda, shulanbushangshu 0.26.0 (2024-04-03) diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst index 7d9b680884b41..9b5b4a5efd159 100644 --- a/planning/autoware_route_handler/CHANGELOG.rst +++ b/planning/autoware_route_handler/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package autoware_route_handler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_route_handler): fix cppcheck unusedVariable (`#9191 `_) -* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) +* fix(autoware_route_handler): fix cppcheck unusedVariable (`#9191 `_) +* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) * feat(mission_planner): reroute with current route start pose when triggered by modifed goal * check new ego goal is in original preffered lane as much as possible * check goal is in goal_lane --------- -* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) * add path with lane id parser * refactor parse to use template --------- -* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) +* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -45,29 +45,29 @@ Changelog for package autoware_route_handler * add colors to flow chart in README --------- Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) +* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) * remove unused functions in route handler * add docstring for function getShoulderLaneletsAtPose * update test map to include shoulder lanelet * add unit test for function getShoulderLaneletsAtPose * add test case for getCenterLinePath to improve branch coverage --------- -* fix(route_handler): make new route continuous with previous route (`#8238 `_) -* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) +* fix(route_handler): make new route continuous with previous route (`#8238 `_) +* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) Co-authored-by: Yamato Ando -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(route_handler): add unit test for lane change related functions (`#7504 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(route_handler): add unit test for lane change related functions (`#7504 `_) * RT1-6230 feat(route_handler): add unit test for lane change related functions * fix spell check * fix spellcheck --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* chore(route_handler, lane_change): add codeowner (`#7475 `_) -* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) +* chore(route_handler, lane_change): add codeowner (`#7475 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) * add flag to enable/disable loop check in getLaneletSequence functions * implement function to get closest route lanelet based on previous closest lanelet * refactor DefaultPlanner::plan function @@ -84,7 +84,7 @@ Changelog for package autoware_route_handler * format fix * move test map to autoware_test_utils --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -96,7 +96,7 @@ Changelog for package autoware_route_handler * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst index e634d81a26072..71224eefc2747 100644 --- a/planning/autoware_rtc_interface/CHANGELOG.rst +++ b/planning/autoware_rtc_interface/CHANGELOG.rst @@ -5,32 +5,32 @@ Changelog for package autoware_rtc_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(rtc_interface): update cooperateStatus state transition (`#8883 `_) +* fix(rtc_interface): update cooperateStatus state transition (`#8883 `_) fix state transition for failure/success -* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) +* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) * update rtc state transition * remove transition from failuer and succeeded * fix * check initial state for cooperate status * change rtc cooperate status according to module status --------- -* feat(rtc_inteface): add function to check force deactivate (`#8221 `_) +* feat(rtc_inteface): add function to check force deactivate (`#8221 `_) add function to check for deactivation -* fix(autoware_rtc_interface): fix constParameterReference (`#8042 `_) +* fix(autoware_rtc_interface): fix constParameterReference (`#8042 `_) * fix:constParameterReference * fix: clang format * fix:constParameterReference --------- -* fix(rtc_interface): fix build error (`#8111 `_) +* fix(rtc_interface): fix build error (`#8111 `_) * fix * fix format --------- -* fix(bpp, rtc_interface): fix state transition (`#7743 `_) +* fix(bpp, rtc_interface): fix state transition (`#7743 `_) * fix(rtc_interface): check rtc state * fix(bpp_interface): check rtc state * feat(rtc_interface): print --------- -* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) +* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) * add force execution for static obstacle avoidance * fix * erase unused function in RTC interface @@ -39,20 +39,20 @@ Changelog for package autoware_rtc_interface * add warn throtthle and move code block * fix --------- -* docs(planning): fix wrong link (`#7751 `_) +* docs(planning): fix wrong link (`#7751 `_) * fix page link * fix out of lane link * fix * fix cost map generator link --------- -* docs(rtc_replayer): fix wrong link (`#7714 `_) +* docs(rtc_replayer): fix wrong link (`#7714 `_) * fix link for rtc_replayer * delete RTC replayer header * fix --------- -* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) Co-authored-by: Fumiya Watanabe -* refactor(rtc_interface)!: prefix package and namespace with autoware (`#7321 `_) +* refactor(rtc_interface)!: prefix package and namespace with autoware (`#7321 `_) refactor(rtc_interface): add autoware prefix * Contributors: Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Satoshi OTA, Yutaka Kondo, kobayu858 diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst index fb980963e0b26..642e823ea9236 100644 --- a/planning/autoware_scenario_selector/CHANGELOG.rst +++ b/planning/autoware_scenario_selector/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_scenario_selector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) * refactor free space planner subscribers * implement scenario switching for edge cases * fix scenario selector test @@ -23,8 +23,8 @@ Changelog for package autoware_scenario_selector * improve near target logic * use timer based implementation for obstacle check --------- -* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -33,14 +33,14 @@ Changelog for package autoware_scenario_selector Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(scenario_selector): rename to include/autoware/{package_name} (`#7512 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* feat(scenario_selector): rename to include/autoware/{package_name} (`#7512 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -52,8 +52,8 @@ Changelog for package autoware_scenario_selector * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* feat(scenario_selector): use polling subscribers (`#7412 `_) -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* feat(scenario_selector): use polling subscribers (`#7412 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -62,7 +62,7 @@ Changelog for package autoware_scenario_selector * fix formats * keep header and source file name as before --------- -* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) +* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) * Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, mkquda 0.26.0 (2024-04-03) diff --git a/planning/autoware_static_centerline_generator/CHANGELOG.rst b/planning/autoware_static_centerline_generator/CHANGELOG.rst index 8476b5dd17c99..efb482f3f33e1 100644 --- a/planning/autoware_static_centerline_generator/CHANGELOG.rst +++ b/planning/autoware_static_centerline_generator/CHANGELOG.rst @@ -5,41 +5,41 @@ Changelog for package autoware_static_centerline_generator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* fix(autoware_static_centerline_generator): fix unusedFunction (`#8647 `_) +* fix(autoware_static_centerline_generator): fix unusedFunction (`#8647 `_) * fix:unusedFunction * fix:unusedFunction * fix:compile error --------- -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- -* fix(autoware_static_centerline_generator): fix funcArgNamesDifferent (`#8019 `_) +* fix(autoware_static_centerline_generator): fix funcArgNamesDifferent (`#8019 `_) fix:funcArgNamesDifferent -* fix(static_centerline_generator): save_map only once (`#7770 `_) -* refactor(static_centerline_optimizer): clean up the code (`#7756 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(static_centerline_generator): save_map only once (`#7770 `_) +* refactor(static_centerline_optimizer): clean up the code (`#7756 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(map_loader): add waypoints flag (`#7480 `_) +* feat(map_loader): add waypoints flag (`#7480 `_) * feat(map_loader): handle centelrine and waypoints * update README * fix doc @@ -47,12 +47,12 @@ Changelog for package autoware_static_centerline_generator * fix * fix --------- -* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) -* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) +* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) +* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) * feat(path_smoother): rename to include/autoware/{package_name} * fix --------- -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir @@ -68,17 +68,17 @@ Changelog for package autoware_static_centerline_generator * fix pre-commit * fix build --------- -* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) +* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} --------- -* fix(static_centerline_generator): fix dependency (`#7442 `_) +* fix(static_centerline_generator): fix dependency (`#7442 `_) * fix: deps * fix: package name * fix: package name --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -87,11 +87,11 @@ Changelog for package autoware_static_centerline_generator * fix formats * keep header and source file name as before --------- -* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) * refactor(mission_planner)!: add autoware prefix and namespace * fix svg --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -126,7 +126,7 @@ Changelog for package autoware_static_centerline_generator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) * git mv * fix * fix launch @@ -136,11 +136,11 @@ Changelog for package autoware_static_centerline_generator * fix static_centerline_optimizer * fix --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* chore(bpp): add prefix `autoware\_` (`#7288 `_) +* chore(bpp): add prefix `autoware\_` (`#7288 `_) * chore(common): rename package * fix(static_obstacle_avoidance): fix header * fix(dynamic_obstacle_avoidance): fix header @@ -155,11 +155,11 @@ Changelog for package autoware_static_centerline_generator * fix(static_centerline_generator): fix header * fix(.pages): update link --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -170,13 +170,13 @@ Changelog for package autoware_static_centerline_generator * fix: test * fix: test --------- -* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) -* fix(autoware_static_centerline_generator): update the centerline correctly with map projector (`#6825 `_) +* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) +* fix(autoware_static_centerline_generator): update the centerline correctly with map projector (`#6825 `_) * fix(static_centerline_generator): fixed the bug of offset lat/lon values * fix typo --------- -* fix(autoware_static_centerline_generator): remove prefix from topics and node names (`#7028 `_) -* build(static_centerline_generator): prefix package and namespace with autoware\_ (`#6817 `_) +* fix(autoware_static_centerline_generator): remove prefix from topics and node names (`#7028 `_) +* build(static_centerline_generator): prefix package and namespace with autoware\_ (`#6817 `_) * build(static_centerline_generator): prefix package and namespace with autoware\_ * style(pre-commit): autofix * build: fix CMake target diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml index 38379a52e4c92..b897cf4d88711 100644 --- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -20,7 +20,7 @@ - + autoware_geography_utils autoware_interpolation autoware_lanelet2_extension + autoware_map_loader autoware_map_msgs autoware_map_projection_loader autoware_mission_planner @@ -33,7 +34,6 @@ autoware_vehicle_info_utils geometry_msgs global_parameter_loader - map_loader rclcpp rclcpp_components tier4_map_msgs diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index a6ba007e71485..398edc215da3e 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -15,6 +15,7 @@ #include "static_centerline_generator_node.hpp" #include "autoware/interpolation/spline_interpolation_points_2d.hpp" +#include "autoware/map_loader/lanelet2_map_loader_node.hpp" #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include "autoware/map_projection_loader/map_projection_loader.hpp" #include "autoware/motion_utils/resample/resample.hpp" @@ -26,7 +27,6 @@ #include "autoware_lanelet2_extension/utility/utilities.hpp" #include "autoware_static_centerline_generator/msg/points_with_lane_id.hpp" #include "centerline_source/bag_ego_trajectory_based_centerline.hpp" -#include "map_loader/lanelet2_map_loader_node.hpp" #include "type_alias.hpp" #include "utils.hpp" @@ -358,24 +358,24 @@ void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_ // load map map_projector_info_ = std::make_unique( autoware::map_projection_loader::load_info_from_lanelet2_map(lanelet2_input_file_path)); - const auto map_ptr = - Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); + const auto map_ptr = autoware::map_loader::Lanelet2MapLoaderNode::load_map( + lanelet2_input_file_path, *map_projector_info_); if (!map_ptr) { return nullptr; } // NOTE: The original map is stored here since the centerline will be added to all the // lanelet when lanelet::utils::overwriteLaneletCenterline is called. - original_map_ptr_ = - Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); + original_map_ptr_ = autoware::map_loader::Lanelet2MapLoaderNode::load_map( + lanelet2_input_file_path, *map_projector_info_); // overwrite more dense centerline // NOTE: overwriteLaneletsCenterlineWithWaypoints is used only in real time calculation. lanelet::utils::overwriteLaneletsCenterline(map_ptr, 5.0, false); // create map bin msg - const auto map_bin_msg = - Lanelet2MapLoaderNode::create_map_bin_msg(map_ptr, lanelet2_input_file_path, now()); + const auto map_bin_msg = autoware::map_loader::Lanelet2MapLoaderNode::create_map_bin_msg( + map_ptr, lanelet2_input_file_path, now()); return std::make_shared(map_bin_msg); }(); diff --git a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py index 4bb0630d13942..ca2621212ef83 100644 --- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py +++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py @@ -71,7 +71,7 @@ def generate_test_description(): "config/path_optimizer.param.yaml", ), os.path.join( - get_package_share_directory("map_loader"), + get_package_share_directory("autoware_map_loader"), "config/lanelet2_map_loader.param.yaml", ), os.path.join( diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst index 21a6bcd8e6da4..5a9105c869042 100644 --- a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst +++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst @@ -5,26 +5,26 @@ Changelog for package autoware_surround_obstacle_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* test(surround_obstacle_checker): add unit tests (`#9039 `_) +* test(surround_obstacle_checker): add unit tests (`#9039 `_) * refactor: isStopRequired * test: write test for isStopRequired * refactor: use universe utils * fix: shutdown --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(autoware_surround_obstacle_checker): fix unusedFunction (`#8774 `_) +* fix(autoware_surround_obstacle_checker): fix unusedFunction (`#8774 `_) fix:unusedFunction -* feat(surround_obstacle_checker): integrate generate_parameter_library (`#8719 `_) +* feat(surround_obstacle_checker): integrate generate_parameter_library (`#8719 `_) * add generate_parameter_library to package * add parameter file generator script * use mapped parameters @@ -35,25 +35,25 @@ Changelog for package autoware_surround_obstacle_checker * fix variable shadowing --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_surround_obstacle_checker): fix passedByValue (`#8206 `_) +* fix(autoware_surround_obstacle_checker): fix passedByValue (`#8206 `_) fix:passedByValue -* fix(autoware_surround_obstacle_checker): fix constVariableReference (`#8059 `_) +* fix(autoware_surround_obstacle_checker): fix constVariableReference (`#8059 `_) fix:constVariableReference -* fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (`#8020 `_) +* fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (`#8020 `_) fix:funcArgNamesDifferent -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(surround_obstacle_checker): remove include directory (`#7507 `_) +* feat(surround_obstacle_checker): remove include directory (`#7507 `_) * feat(surround_obstacle_checker): remove include directory * fix * fix --------- -* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) set single depth sensor data qos for pointlcoud polling subscribers -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -88,7 +88,7 @@ Changelog for package autoware_surround_obstacle_checker * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) +* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) * fix(autoware_surround_obstacle_checker): rename * fix(autoware_surround_obstacle_checker): rename header * fix(launch): update package name diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp index 92429504c7d5e..57d9cc8bc67a7 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp @@ -60,13 +60,12 @@ using autoware::universe_utils::createMarkerScale; using autoware::universe_utils::createPoint; SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode( - const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double base_link2front, - const std::string & object_label, const double & surround_check_front_distance, - const double & surround_check_side_distance, const double & surround_check_back_distance, - const double & surround_check_hysteresis_distance, const geometry_msgs::msg::Pose & self_pose, - const rclcpp::Clock::SharedPtr clock, rclcpp::Node & node) + const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const std::string & object_label, + const double & surround_check_front_distance, const double & surround_check_side_distance, + const double & surround_check_back_distance, const double & surround_check_hysteresis_distance, + const geometry_msgs::msg::Pose & self_pose, const rclcpp::Clock::SharedPtr clock, + rclcpp::Node & node) : vehicle_info_(vehicle_info), - base_link2front_(base_link2front), object_label_(object_label), surround_check_front_distance_(surround_check_front_distance), surround_check_side_distance_(surround_check_side_distance), diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp index ba8877b539e81..17ec2631b2dad 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp @@ -56,7 +56,7 @@ class SurroundObstacleCheckerDebugNode { public: explicit SurroundObstacleCheckerDebugNode( - const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double base_link2front, + const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const std::string & object_label, const double & surround_check_front_distance, const double & surround_check_side_distance, const double & surround_check_back_distance, const double & surround_check_hysteresis_distance, const geometry_msgs::msg::Pose & self_pose, @@ -77,7 +77,6 @@ class SurroundObstacleCheckerDebugNode rclcpp::Publisher::SharedPtr vehicle_footprint_recover_offset_pub_; autoware::vehicle_info_utils::VehicleInfo vehicle_info_; - double base_link2front_; std::string object_label_; double surround_check_front_distance_; double surround_check_side_distance_; diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp index da0dd0ec09a26..70e81fa3b1d12 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.cpp +++ b/planning/autoware_surround_obstacle_checker/src/node.cpp @@ -126,9 +126,9 @@ SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptio const auto param = param_listener_->get_params(); const auto check_distances = getCheckDistances(param.debug_footprint_label); debug_ptr_ = std::make_shared( - vehicle_info_, vehicle_info_.max_longitudinal_offset_m, param.debug_footprint_label, - check_distances.at(0), check_distances.at(1), check_distances.at(2), - param.surround_check_hysteresis_distance, odometry_ptr_->pose.pose, this->get_clock(), *this); + vehicle_info_, param.debug_footprint_label, check_distances.at(0), check_distances.at(1), + check_distances.at(2), param.surround_check_hysteresis_distance, odometry_ptr_->pose.pose, + this->get_clock(), *this); } } diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst index a2df0ef2e4cb9..33aa32d835398 100644 --- a/planning/autoware_velocity_smoother/CHANGELOG.rst +++ b/planning/autoware_velocity_smoother/CHANGELOG.rst @@ -5,40 +5,40 @@ Changelog for package autoware_velocity_smoother 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* perf(motion_velocity_smoother): remove some heavy debug logging (`#8798 `_) +* perf(motion_velocity_smoother): remove some heavy debug logging (`#8798 `_) remove some heavy logging in the velocity smoother -* fix(autoware_velocity_smoother): fix unusedFunction (`#8649 `_) +* fix(autoware_velocity_smoother): fix unusedFunction (`#8649 `_) fix:unusedFunction -* fix(autoware_velocity_smoother): fix variableScope (`#8442 `_) +* fix(autoware_velocity_smoother): fix variableScope (`#8442 `_) fix:variableScope -* fix(autoware_velocity_smoother): fix unreadVariable (`#8364 `_) +* fix(autoware_velocity_smoother): fix unreadVariable (`#8364 `_) fix:unreadVariable -* fix(autoware_velocity_smoother): fix passedByValue (`#8207 `_) +* fix(autoware_velocity_smoother): fix passedByValue (`#8207 `_) * fix:passedByValue * fix:clang format --------- -* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) * not resample debug_trajectories if not published * update dependant packages --------- -* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) +* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) * perf(velocity_smoother): use ProxQP for faster optimization * consider max_iteration * disable warm start * fix test --------- -* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) +* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) fix(velocity_smoother): float type of processing time was wrong -* fix(autoware_velocity_smoother): fix constVariableReference (`#8060 `_) +* fix(autoware_velocity_smoother): fix constVariableReference (`#8060 `_) fix:constVariableReference -* fix(autoware_velocity_smoother): fix constParameterReference (`#8043 `_) +* fix(autoware_velocity_smoother): fix constParameterReference (`#8043 `_) fix:constParameterReference -* chore(velocity_smoother): add maintainer (`#8121 `_) +* chore(velocity_smoother): add maintainer (`#8121 `_) add maintainer -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -47,21 +47,21 @@ Changelog for package autoware_velocity_smoother Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* fix(autoware_velocity_smoother): fix shadowVariablefix:shadowVariable (`#7950 `_) +* fix(autoware_velocity_smoother): fix shadowVariablefix:shadowVariable (`#7950 `_) fix:shadowVariable -* feat(velocity_smoother): add time_keeper (`#8026 `_) -* refactor(velocity_smoother): change method to take data for external velocity (`#7810 `_) +* feat(velocity_smoother): add time_keeper (`#8026 `_) +* refactor(velocity_smoother): change method to take data for external velocity (`#7810 `_) refactor external velocity -* fix(autoware_velocity_smoother): fix duplicateBreak warning (`#7699 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_velocity_smoother): fix unusedVariable warning (`#7585 `_) +* fix(autoware_velocity_smoother): fix duplicateBreak warning (`#7699 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_velocity_smoother): fix unusedVariable warning (`#7585 `_) fix unusedVariable warning -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -73,7 +73,7 @@ Changelog for package autoware_velocity_smoother * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -108,17 +108,17 @@ Changelog for package autoware_velocity_smoother * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(autoware_velocity_smoother): use polling subscriber (`#7216 `_) +* feat(autoware_velocity_smoother): use polling subscriber (`#7216 `_) feat(motion_velocity_smoother): use polling subscriber -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst index 3b9961bcea071..aa4bfb81d81db 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst @@ -5,28 +5,28 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) +* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) * add maintainers to avoidance by lane change * add maintainers to external request lane change --------- -* fix(autoware_behavior_path_avoidance_by_lane_change_module): fix unmatchedSuppression (`#8987 `_) +* fix(autoware_behavior_path_avoidance_by_lane_change_module): fix unmatchedSuppression (`#8987 `_) fix:unmatchedSuppression -* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) +* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) * add transient data * reverted max lc dist in calcCurrentMinMax * rename * minor refactoring * update doxygen comments --------- -* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) +* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum * move functions to relevant module * suppress unused function cppcheck * minor change --------- -* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) +* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) remove unused variables -* feat(lane_change): improve execution condition of lane change module (`#8648 `_) +* feat(lane_change): improve execution condition of lane change module (`#8648 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -39,8 +39,8 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module * update readme * check distance to reg element for candidate path only if not near terminal start --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) * refactor(lane_change): compute lanes and polygon only when updated * Revert accidental changesd This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011. @@ -49,24 +49,24 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module * add target lanes getter * some minor function refactoring --------- -* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) +* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) * fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle * chore(schema): update schema --------- -* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) +* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) fix(static_obstacle_avoidance): fix stop position -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp index 1051a3460be3b..0e0b0fcf63933 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp @@ -31,15 +31,13 @@ AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface( const std::shared_ptr & avoidance_by_lane_change_parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) + objects_of_interest_marker_interface_ptr_map) : LaneChangeInterface{ name, node, parameters, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, - steering_factor_interface_ptr, std::make_unique(parameters, avoidance_by_lane_change_parameters)} { } diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp index 4d200411904b0..c7fbba34b1adb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp @@ -40,8 +40,7 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface const std::shared_ptr & avoidance_by_lane_change_parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); bool isExecutionRequested() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp index 28ff6c9e110d6..c54774a575332 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp @@ -190,7 +190,7 @@ SMIPtr AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance() { return std::make_unique( name_, *node_, parameters_, avoidance_parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst index 0e345cd6ceea8..9f25d197cc113 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area (`#8295 `_) +* feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area (`#8295 `_) * add expansion drivable area feature * make expansion optional * style(pre-commit): autofix @@ -17,23 +17,23 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix unusedFunction (`#8652 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix unusedFunction (`#8652 `_) fix:unusedFunction -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* perf(dynamic_obstacle_avoidance): decrease the computation time with time_keeper (`#7986 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* perf(dynamic_obstacle_avoidance): decrease the computation time with time_keeper (`#7986 `_) * decrease computation cost * remove TODO * fix --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix bitwiseOnBoolean warning (`#7636 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix bitwiseOnBoolean warning (`#7636 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp index c0d2cdbee5c04..f09196b2cc8e1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp @@ -42,7 +42,7 @@ class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp index d02648f4ccfd4..33d33119602f5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp @@ -350,8 +350,7 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); void updateModuleParams(const std::any & parameters) override { diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index 852a3fe0feedf..c162170ae5eb0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -329,9 +329,8 @@ DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule( std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{std::move(parameters)}, target_objects_manager_{TargetObjectsManager( parameters_->successive_num_to_entry_dynamic_avoidance_condition, diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst index 6e5315c65dadd..501e950312718 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) +* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) * add maintainers to avoidance by lane change * add maintainers to external request lane change --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp index 3c730e6d36376..c04914ed1c72b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp @@ -26,7 +26,7 @@ ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance() { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_, + objects_of_interest_marker_interface_ptr_map_, std::make_unique(parameters_, direction_)); } @@ -35,7 +35,7 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance() { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_, + objects_of_interest_marker_interface_ptr_map_, std::make_unique(parameters_, direction_)); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst index d4eccd06b836e..3617b609cc31c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst @@ -5,57 +5,57 @@ Changelog for package autoware_behavior_path_goal_planner_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(goal_planner): align vehicle footprint heading parallel to parking side lane boundary (`#9159 `_) -* chore(goal_planner): compare sampled/filtered candidate paths on plot (`#9140 `_) +* feat(goal_planner): align vehicle footprint heading parallel to parking side lane boundary (`#9159 `_) +* chore(goal_planner): compare sampled/filtered candidate paths on plot (`#9140 `_) Co-authored-by: Kosuke Takeuchi -* feat(goal_planner): use vehicle side edge to check isCrossingPossible for pull over execution (`#9102 `_) -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* refactor(goal_planner): move last_previous_module_output_path out of ThreadSafeData (`#9075 `_) -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* feat(goal_planner): use vehicle side edge to check isCrossingPossible for pull over execution (`#9102 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* refactor(goal_planner): move last_previous_module_output_path out of ThreadSafeData (`#9075 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* refactor(goal_planner): remove prev_data / last_path_idx_time from ThreadSafeData (`#9064 `_) +* refactor(goal_planner): remove prev_data / last_path_idx_time from ThreadSafeData (`#9064 `_) refactor(goal_planner): remove prev_data and last_path_idx_update_time -* refactor(goal_planner): remove lane parking pull over path (`#9063 `_) -* refactor(goal_planner): remove modified_goal in ThreadDafeData (`#9010 `_) -* refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread (`#9006 `_) +* refactor(goal_planner): remove lane parking pull over path (`#9063 `_) +* refactor(goal_planner): remove modified_goal in ThreadDafeData (`#9010 `_) +* refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread (`#9006 `_) refactor(goal_planner): save modified_goal_pose in PullOverPlannerBase -* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) fix filter object by velocity -* fix(goal_planner): fix parking_path curvature and DecidingState transition (`#9022 `_) -* refactor(goal_planner): use the PullOverPath, PullOverPathCandidates copied from ThreadData to reduce access (`#8994 `_) -* refactor(goal_planner): remove unused header and divide ThreadSafeData to another file (`#8990 `_) -* refactor(goal_planner): refactor PullOverPlannseBase to instantiate only valid path (`#8983 `_) -* fix(goal_planner): fix freespace planning chattering (`#8981 `_) -* feat(goal_planner): use neighboring lane of pull over lane to check goal footprint (`#8716 `_) +* fix(goal_planner): fix parking_path curvature and DecidingState transition (`#9022 `_) +* refactor(goal_planner): use the PullOverPath, PullOverPathCandidates copied from ThreadData to reduce access (`#8994 `_) +* refactor(goal_planner): remove unused header and divide ThreadSafeData to another file (`#8990 `_) +* refactor(goal_planner): refactor PullOverPlannseBase to instantiate only valid path (`#8983 `_) +* fix(goal_planner): fix freespace planning chattering (`#8981 `_) +* feat(goal_planner): use neighboring lane of pull over lane to check goal footprint (`#8716 `_) move to utils and add tests -* refactor(goal_planner): remove unnecessary GoalPlannerData member (`#8920 `_) -* feat(goal_planner): move PathDecidingStatus to other controller class (`#8872 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* refactor(goal_planner): remove unnecessary GoalPlannerData member (`#8920 `_) +* feat(goal_planner): move PathDecidingStatus to other controller class (`#8872 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(goal_planner): fix typo (`#8910 `_) -* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8786 `_) +* fix(goal_planner): fix typo (`#8910 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8786 `_) fix:unusedFunction -* refactor(goal_planner): reduce call to isSafePath (`#8812 `_) -* feat(goal_planner): execute goal planner if previous module path terminal is pull over neighboring lane (`#8715 `_) -* feat(goal_planner): dense goal candidate sampling in BusStopArea (`#8795 `_) -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* refactor(goal_planner): reduce call to isSafePath (`#8812 `_) +* feat(goal_planner): execute goal planner if previous module path terminal is pull over neighboring lane (`#8715 `_) +* feat(goal_planner): dense goal candidate sampling in BusStopArea (`#8795 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* feat(goal_planner): add getBusStopAreaPolygons (`#8794 `_) -* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8775 `_) +* feat(goal_planner): add getBusStopAreaPolygons (`#8794 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8775 `_) fix:unusedFunction -* feat(behavior_path_goal planner): add example plot for development (`#8772 `_) -* fix(goal_planner): fix time_keeper race (`#8780 `_) -* fix(goal_planner): fix object extraction area (`#8764 `_) -* fix(goal_planner): fix typo (`#8763 `_) -* feat(goal_planner): extend pull over lanes inward to extract objects (`#8714 `_) +* feat(behavior_path_goal planner): add example plot for development (`#8772 `_) +* fix(goal_planner): fix time_keeper race (`#8780 `_) +* fix(goal_planner): fix object extraction area (`#8764 `_) +* fix(goal_planner): fix typo (`#8763 `_) +* feat(goal_planner): extend pull over lanes inward to extract objects (`#8714 `_) * feat(goal_planner): extend pull over lanes inward to extract objects * update from review * use optionale @@ -66,17 +66,17 @@ Changelog for package autoware_behavior_path_goal_planner_module * pre-commit --------- Co-authored-by: Mamoru Sobue -* refactor(goal_planner): initialize parameter with free function (`#8712 `_) -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* refactor(goal_planner): remove unnecessary member from PreviousPullOverData (`#8698 `_) -* refactor(goal_planner): remove unnecessary member from pull_over_planner (`#8697 `_) -* refactor(goal_planner): move pull_over_planner directory (`#8696 `_) -* fix(goal_planner): fix zero velocity in middle of path (`#8563 `_) +* refactor(goal_planner): initialize parameter with free function (`#8712 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(goal_planner): remove unnecessary member from PreviousPullOverData (`#8698 `_) +* refactor(goal_planner): remove unnecessary member from pull_over_planner (`#8697 `_) +* refactor(goal_planner): move pull_over_planner directory (`#8696 `_) +* fix(goal_planner): fix zero velocity in middle of path (`#8563 `_) * fix(goal_planner): fix zero velocity in middle of path * add comment --------- -* fix(goal_planner): remove time keeper in non main thread (`#8610 `_) -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* fix(goal_planner): remove time keeper in non main thread (`#8610 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -142,37 +142,37 @@ Changelog for package autoware_behavior_path_goal_planner_module * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* perf(goal_planner): faster path sorting and selection (`#8457 `_) +* perf(goal_planner): faster path sorting and selection (`#8457 `_) * perf(goal_planner): faster path sorting and selection * path_id_to_rough_margin_map --------- -* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) +* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) * goal_planner * lane_change --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* perf(goal_planner): reduce unnecessary recursive lock guard (`#8465 `_) +* perf(goal_planner): reduce unnecessary recursive lock guard (`#8465 `_) * perf(goal_planner): reduce unnecessary recursive lock guard * make set_no_lock private --------- -* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) * add optional to tackle LC turn signal and pull over turn signal * CPP file should not re-define default value; typo in copying from internal repos --------- -* fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (`#8449 `_) -* fix(autoware_behavior_path_goal_planner_module): fix unreadVariable (`#8365 `_) +* fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (`#8449 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unreadVariable (`#8365 `_) fix:unreadVariable -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* perf(goal_planner): reduce processing time (`#8195 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* perf(goal_planner): reduce processing time (`#8195 `_) * perf(goal_palnner): reduce processing time * add const& return * use copy getter * pre commit --------- -* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) -* feat(goal_planner): add time keeper (`#8194 `_) +* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) +* feat(goal_planner): add time keeper (`#8194 `_) time keeper -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -205,9 +205,9 @@ Changelog for package autoware_behavior_path_goal_planner_module * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* fix(autoware_behavior_path_goal_planner_module): fix shadowVariable (`#7962 `_) +* fix(autoware_behavior_path_goal_planner_module): fix shadowVariable (`#7962 `_) fix:shadowVariable -* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength * Update trajectory.hpp Co-authored-by: Kyoichi Sugahara @@ -215,24 +215,24 @@ Changelog for package autoware_behavior_path_goal_planner_module Co-authored-by: Kyoichi Sugahara --------- Co-authored-by: Kyoichi Sugahara -* docs(goal_planner): update parameter description (`#7889 `_) +* docs(goal_planner): update parameter description (`#7889 `_) * docs(goal_planner): update parameter description * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(goal_planner): prioritize pull over path by curvature (`#7791 `_) +* feat(goal_planner): prioritize pull over path by curvature (`#7791 `_) * feat(goal_planner): prioritize pull over path by curvature fix * add comment * pre commit --------- Co-authored-by: Mamoru Sobue -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -240,13 +240,13 @@ Changelog for package autoware_behavior_path_goal_planner_module * fix LC README * use normalized yaw diff --------- -* fix(autoware_behavior_path_goal_planner_module): fix lateral_offset related warnings (`#7624 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_behavior_path_goal_planner_module): fix lateral_offset related warnings (`#7624 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -263,14 +263,14 @@ Changelog for package autoware_behavior_path_goal_planner_module fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 6caeff97c2607..5d7fe103a9346 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -73,6 +73,7 @@ struct GoalPlannerDebugData std::vector ego_polygons_expanded{}; lanelet::ConstLanelet expanded_pull_over_lane_between_ego{}; Polygon2d objects_extraction_polygon{}; + utils::path_safety_checker::CollisionCheckDebugMap collision_check{}; }; struct LastApprovalData @@ -142,8 +143,7 @@ class GoalPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); ~GoalPlannerModule() { @@ -234,10 +234,11 @@ class GoalPlannerModule : public SceneModuleInterface ModuleStatus current_status; BehaviorModuleOutput previous_module_output; BehaviorModuleOutput last_previous_module_output; // occupancy_grid_map; - std::shared_ptr goal_searcher; const BehaviorModuleOutput & getPreviousModuleOutput() const { return previous_module_output; } const ModuleStatus & getCurrentStatus() const { return current_status; } @@ -246,8 +247,8 @@ class GoalPlannerModule : public SceneModuleInterface void update( const GoalPlannerParameters & parameters, const PlannerData & planner_data, const ModuleStatus & current_status, const BehaviorModuleOutput & previous_module_output, - const std::shared_ptr goal_searcher_, - const autoware::universe_utils::LinearRing2d & vehicle_footprint); + const autoware::universe_utils::LinearRing2d & vehicle_footprint, + const GoalCandidates & goal_candidates); private: void initializeOccupancyGridMap( @@ -312,6 +313,7 @@ class GoalPlannerModule : public SceneModuleInterface // goal searcher std::shared_ptr goal_searcher_; + GoalCandidates goal_candidates_{}; // NOTE: this is latest occupancy_grid_map pointer which the local planner_data on // onFreespaceParkingTimer thread storage may point to while calculation. @@ -325,7 +327,6 @@ class GoalPlannerModule : public SceneModuleInterface autoware::universe_utils::LinearRing2d vehicle_footprint_; std::recursive_mutex mutex_; - // TODO(Mamoru Sobue): isSafePath() modifies ThreadSafeData::check_collision, avoid this mutable mutable ThreadSafeData thread_safe_data_; // TODO(soblin): organize part of thread_safe_data and previous data to PullOverContextData @@ -412,8 +413,9 @@ class GoalPlannerModule : public SceneModuleInterface // freespace parking bool planFreespacePath( std::shared_ptr planner_data, - const std::shared_ptr goal_searcher, - const std::shared_ptr occupancy_grid_map); + const std::shared_ptr goal_searcher, const GoalCandidates & goal_candidates, + const std::shared_ptr occupancy_grid_map, + const PredictedObjects & static_target_objects); bool canReturnToLaneParking(const PullOverContextData & context_data); // plan pull over path @@ -476,7 +478,7 @@ class GoalPlannerModule : public SceneModuleInterface * @brief Checks if the current path is safe. * @return If the path is safe in the current state, true. */ - bool isSafePath( + std::pair isSafePath( const std::shared_ptr planner_data, const bool found_pull_over_path, const std::optional & pull_over_path_opt, const PathDecisionState & prev_data, const GoalPlannerParameters & parameters, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp index 923fb6ae5bd44..ac4ffe97d6f2d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp @@ -51,7 +51,8 @@ class GoalSearcher : public GoalSearcherBase private: void countObjectsToAvoid( GoalCandidates & goal_candidates, const PredictedObjects & objects, - const std::shared_ptr & planner_data) const; + const std::shared_ptr & planner_data, + const Pose & reference_goal_pose) const; void createAreaPolygons( std::vector original_search_poses, const std::shared_ptr & planner_data); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp index b7d6ffe0710fe..23a51d1f8c86a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp @@ -43,15 +43,9 @@ using GoalCandidates = std::vector; class GoalSearcherBase { public: - explicit GoalSearcherBase(const GoalPlannerParameters & parameters) { parameters_ = parameters; } + explicit GoalSearcherBase(const GoalPlannerParameters & parameters) : parameters_{parameters} {} virtual ~GoalSearcherBase() = default; - void setReferenceGoal(const Pose & reference_goal_pose) - { - reference_goal_pose_ = reference_goal_pose; - } - const Pose & getReferenceGoal() const { return reference_goal_pose_; } - MultiPolygon2d getAreaPolygons() const { return area_polygons_; } virtual GoalCandidates search(const std::shared_ptr & planner_data) = 0; virtual void update( @@ -72,8 +66,7 @@ class GoalSearcherBase const PredictedObjects & objects) const = 0; protected: - GoalPlannerParameters parameters_{}; - Pose reference_goal_pose_{}; + const GoalPlannerParameters parameters_; MultiPolygon2d area_polygons_{}; }; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index a0d5d40d8c8d5..549319b42ee4c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -106,15 +106,11 @@ class ThreadSafeData const std::lock_guard lock(mutex_); pull_over_path_ = nullptr; pull_over_path_candidates_.clear(); - goal_candidates_.clear(); last_path_update_time_ = std::nullopt; closest_start_pose_ = std::nullopt; prev_data_ = PathDecisionState{}; } - // main --> lane/freespace - DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, static_target_objects) - DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, dynamic_target_objects) // main --> lane DEFINE_SETTER_GETTER_WITH_MUTEX(PathDecisionState, prev_data) @@ -126,10 +122,6 @@ class ThreadSafeData DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_update_time) - DEFINE_SETTER_GETTER_WITH_MUTEX(GoalCandidates, goal_candidates) - DEFINE_SETTER_GETTER_WITH_MUTEX( - utils::path_safety_checker::CollisionCheckDebugMap, collision_check) - private: void set_pull_over_path_no_lock(const PullOverPath & path) { @@ -144,23 +136,14 @@ class ThreadSafeData last_path_update_time_ = clock_->now(); } - void set_no_lock(const GoalCandidates & arg) { goal_candidates_ = arg; } void set_no_lock(const std::vector & arg) { pull_over_path_candidates_ = arg; } void set_no_lock(const std::shared_ptr & arg) { set_pull_over_path_no_lock(arg); } void set_no_lock(const PullOverPath & arg) { set_pull_over_path_no_lock(arg); } - void set_no_lock(const utils::path_safety_checker::CollisionCheckDebugMap & arg) - { - collision_check_ = arg; - } std::shared_ptr pull_over_path_{nullptr}; std::vector pull_over_path_candidates_; - GoalCandidates goal_candidates_{}; std::optional last_path_update_time_; std::optional closest_start_pose_{}; - utils::path_safety_checker::CollisionCheckDebugMap collision_check_{}; - PredictedObjects static_target_objects_{}; - PredictedObjects dynamic_target_objects_{}; PathDecisionState prev_data_{}; std::recursive_mutex & mutex_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index ebc3130afe931..b4fa4dfe30d7a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -63,9 +63,8 @@ GoalPlannerModule::GoalPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{parameters}, vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}, thread_safe_data_{mutex_, clock_}, @@ -135,6 +134,9 @@ GoalPlannerModule::GoalPlannerModule( initializeSafetyCheckParameters(); } + steering_factor_interface_.init(PlanningBehavior::GOAL_PLANNER); + velocity_factor_interface_.init(PlanningBehavior::GOAL_PLANNER); + /** * NOTE: Add `universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);` to functions called * from the main thread only. @@ -208,7 +210,7 @@ void GoalPlannerModule::onTimer() std::optional last_previous_module_output_opt{std::nullopt}; std::shared_ptr occupancy_grid_map{nullptr}; std::optional parameters_opt{std::nullopt}; - std::shared_ptr goal_searcher{nullptr}; + std::optional goal_candidates_opt{std::nullopt}; // begin of critical section { @@ -221,31 +223,33 @@ void GoalPlannerModule::onTimer() last_previous_module_output_opt = gp_planner_data.last_previous_module_output; occupancy_grid_map = gp_planner_data.occupancy_grid_map; parameters_opt = gp_planner_data.parameters; - goal_searcher = gp_planner_data.goal_searcher; + goal_candidates_opt = gp_planner_data.goal_candidates; } } // end of critical section if ( !local_planner_data || !current_status_opt || !previous_module_output_opt || - !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt || !goal_searcher) { + !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt || + !goal_candidates_opt) { RCLCPP_ERROR( getLogger(), "failed to get valid " - "local_planner_data/current_status/previous_module_output/occupancy_grid_map/parameters_opt/" - "goal_searcher in onTimer"); + "local_planner_data/current_status/previous_module_output/occupancy_grid_map/parameters_opt " + "in onTimer"); return; } const auto & current_status = current_status_opt.value(); const auto & previous_module_output = previous_module_output_opt.value(); const auto & last_previous_module_output = last_previous_module_output_opt.value(); const auto & parameters = parameters_opt.value(); + const auto & goal_candidates = goal_candidates_opt.value(); if (current_status == ModuleStatus::IDLE) { return; } // goals are not yet available. - if (thread_safe_data_.get_goal_candidates().empty()) { + if (goal_candidates.empty()) { return; } @@ -296,8 +300,6 @@ void GoalPlannerModule::onTimer() return; } - const auto goal_candidates = thread_safe_data_.get_goal_candidates(); - // generate valid pull over path candidates and calculate closest start pose const auto current_lanes = utils::getExtendedCurrentLanes( local_planner_data, parameters.backward_goal_search_length, @@ -375,7 +377,8 @@ void GoalPlannerModule::onFreespaceParkingTimer() std::optional current_status_opt{std::nullopt}; std::shared_ptr occupancy_grid_map{nullptr}; std::optional parameters_opt{std::nullopt}; - std::shared_ptr goal_searcher{nullptr}; + std::optional vehicle_footprint_opt{std::nullopt}; + std::optional goal_candidates_opt{std::nullopt}; // begin of critical section { @@ -386,20 +389,25 @@ void GoalPlannerModule::onFreespaceParkingTimer() current_status_opt = gp_planner_data.current_status; occupancy_grid_map = gp_planner_data.occupancy_grid_map; parameters_opt = gp_planner_data.parameters; - goal_searcher = gp_planner_data.goal_searcher; + vehicle_footprint_opt = gp_planner_data.vehicle_footprint; + goal_candidates_opt = gp_planner_data.goal_candidates; } } // end of critical section - if (!local_planner_data || !current_status_opt || !parameters_opt || !goal_searcher) { + if ( + !local_planner_data || !current_status_opt || !occupancy_grid_map || !parameters_opt || + !vehicle_footprint_opt || !goal_candidates_opt) { RCLCPP_ERROR( getLogger(), - "failed to get valid planner_data/current_status/parameters/goal_searcher in " + "failed to get valid planner_data/current_status/parameters in " "onFreespaceParkingTimer"); return; } const auto & current_status = current_status_opt.value(); const auto & parameters = parameters_opt.value(); + const auto & vehicle_footprint = vehicle_footprint_opt.value(); + const auto & goal_candidates = goal_candidates_opt.value(); if (current_status == ModuleStatus::IDLE) { return; @@ -426,18 +434,43 @@ void GoalPlannerModule::onFreespaceParkingTimer() return; } + const double vehicle_width = planner_data_->parameters.vehicle_width; + const bool left_side_parking = parameters.parking_policy == ParkingPolicy::LEFT_SIDE; + const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( + *(local_planner_data->route_handler), left_side_parking, parameters.backward_goal_search_length, + parameters.forward_goal_search_length); + const auto objects_extraction_polygon = goal_planner_utils::generateObjectExtractionPolygon( + pull_over_lanes, left_side_parking, parameters.detection_bound_offset, + parameters.margin_from_boundary + parameters.max_lateral_offset + vehicle_width); + + PredictedObjects dynamic_target_objects{}; + for (const auto & object : local_planner_data->dynamic_object->objects) { + const auto object_polygon = universe_utils::toPolygon2d(object); + if ( + objects_extraction_polygon.has_value() && + boost::geometry::intersects(object_polygon, objects_extraction_polygon.value())) { + dynamic_target_objects.objects.push_back(object); + } + } + const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( + dynamic_target_objects, parameters.th_moving_object_velocity); + const bool is_new_costmap = (clock_->now() - local_planner_data->costmap->header.stamp).seconds() < 1.0; constexpr double path_update_duration = 1.0; if ( isStuck( - thread_safe_data_.get_static_target_objects(), thread_safe_data_.get_dynamic_target_objects(), - local_planner_data, occupancy_grid_map, parameters) && + static_target_objects, dynamic_target_objects, local_planner_data, occupancy_grid_map, + parameters) && is_new_costmap && needPathUpdate( local_planner_data->self_odometry->pose.pose, path_update_duration, modified_goal_opt, parameters)) { - planFreespacePath(local_planner_data, goal_searcher, occupancy_grid_map); + auto goal_searcher = std::make_shared(parameters, vehicle_footprint); + + planFreespacePath( + local_planner_data, goal_searcher, goal_candidates, occupancy_grid_map, + static_target_objects); } } @@ -494,9 +527,10 @@ void GoalPlannerModule::updateData() const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( dynamic_target_objects, p->th_moving_object_velocity); - // these objects are used for path collision check not for safety check - thread_safe_data_.set_static_target_objects(static_target_objects); - thread_safe_data_.set_dynamic_target_objects(dynamic_target_objects); + // update goal searcher and generate goal candidates + if (goal_candidates_.empty()) { + goal_candidates_ = generateGoalCandidates(); + } // In PlannerManager::run(), it calls SceneModuleInterface::setData and // SceneModuleInterface::setPreviousModuleOutput before module_ptr->run(). @@ -522,8 +556,8 @@ void GoalPlannerModule::updateData() // **re-pointing** by `planner_data_->foo = msg` in behavior_path_planner::onCallbackFor(msg) // and if these two coincided, only the reference count is affected gp_planner_data.update( - *parameters_, *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), goal_searcher_, - vehicle_footprint_); + *parameters_, *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), + vehicle_footprint_, goal_candidates_); // NOTE: RouteHandler holds several shared pointers in it, so just copying PlannerData as // value does not adds the reference counts of RouteHandler.lanelet_map_ptr_ and others. Since // behavior_path_planner::run() updates @@ -568,9 +602,10 @@ void GoalPlannerModule::updateData() // save "old" state const auto prev_decision_state = path_decision_controller_.get_current_state(); - const bool is_current_safe = isSafePath( + const auto [is_current_safe, collision_check_map] = isSafePath( planner_data_, found_pull_over_path, pull_over_path_recv, prev_decision_state, *parameters_, ego_predicted_path_params_, objects_filtering_params_, safety_check_params_); + debug_data_.collision_check = collision_check_map; // update to latest state path_decision_controller_.transit_state( found_pull_over_path, clock_->now(), static_target_objects, dynamic_target_objects, @@ -583,19 +618,6 @@ void GoalPlannerModule::updateData() thread_safe_data_.get_pull_over_path_candidates(), prev_decision_state); auto & ctx_data = context_data_.value(); - // update goal searcher and generate goal candidates - if (thread_safe_data_.get_goal_candidates().empty()) { - const auto refined_goal = goal_planner_utils::calcRefinedGoal( - planner_data_->route_handler->getOriginalGoalPose(), planner_data_->route_handler, - left_side_parking_, planner_data_->parameters.vehicle_width, - planner_data_->parameters.base_link2front, planner_data_->parameters.base_link2rear, - *parameters_); - if (refined_goal) { - goal_searcher_->setReferenceGoal(refined_goal.value()); - } - thread_safe_data_.set_goal_candidates(generateGoalCandidates()); - } - thread_safe_data_.set_prev_data(path_decision_controller_.get_current_state()); if (!isActivated()) { @@ -765,15 +787,12 @@ double GoalPlannerModule::calcModuleRequestLength() const bool GoalPlannerModule::planFreespacePath( std::shared_ptr planner_data, - const std::shared_ptr goal_searcher, - const std::shared_ptr occupancy_grid_map) + const std::shared_ptr goal_searcher, const GoalCandidates & goal_candidates_arg, + const std::shared_ptr occupancy_grid_map, + const PredictedObjects & static_target_objects) { - GoalCandidates goal_candidates{}; - goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher->update( - goal_candidates, occupancy_grid_map, planner_data, - thread_safe_data_.get_static_target_objects()); - thread_safe_data_.set_goal_candidates(goal_candidates); + auto goal_candidates = goal_candidates_arg; + goal_searcher->update(goal_candidates, occupancy_grid_map, planner_data, static_target_objects); debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); debug_data_.freespace_planner.is_planning = true; @@ -1269,8 +1288,7 @@ void GoalPlannerModule::updateSteeringFactor( return SteeringFactor::STRAIGHT; }); - steering_factor_interface_ptr_->updateSteeringFactor( - pose, distance, PlanningBehavior::GOAL_PLANNER, steering_factor_direction, type, ""); + steering_factor_interface_.set(pose, distance, steering_factor_direction, type, ""); } void GoalPlannerModule::decideVelocity() @@ -1376,7 +1394,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( thread_safe_data_.clearPullOverPath(); // update goal candidates - auto goal_candidates = thread_safe_data_.get_goal_candidates(); + auto goal_candidates = goal_candidates_; goal_searcher_->update( goal_candidates, occupancy_grid_map_, planner_data_, context_data.static_target_objects); @@ -1398,7 +1416,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( * As the next action item, only set this selected pull_over_path to only * FreespaceThreadSafeData. */ - thread_safe_data_.set(goal_candidates, pull_over_path); + thread_safe_data_.set(pull_over_path); if (pull_over_path_with_velocity_opt) { auto & pull_over_path_with_velocity = pull_over_path_with_velocity_opt.value(); // copy the path for later setOutput() @@ -1409,8 +1427,6 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( RCLCPP_DEBUG( getLogger(), "selected pull over path: path_id: %ld, goal_id: %ld", pull_over_path.id(), pull_over_path.modified_goal().id); - } else { - thread_safe_data_.set(goal_candidates); } } @@ -1475,6 +1491,8 @@ void GoalPlannerModule::postProcess() setStopReason(StopReason::GOAL_PLANNER, pull_over_path.full_path()); + setVelocityFactor(pull_over_path.full_path()); + context_data_ = std::nullopt; } @@ -1570,8 +1588,8 @@ PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & c // calculate search start offset pose from the closest goal candidate pose with // approximate_pull_over_distance_ ego vehicle decelerates to this position. or if no feasible // stop point is found, stop at this position. - const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( - thread_safe_data_.get_goal_candidates(), planner_data_); + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(goal_candidates_, planner_data_); const auto decel_pose = calcLongitudinalOffsetPose( extended_prev_path.points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -1972,8 +1990,8 @@ void GoalPlannerModule::deceleratePath(PullOverPath & pull_over_path) const universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // decelerate before the search area start - const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( - thread_safe_data_.get_goal_candidates(), planner_data_); + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(goal_candidates_, planner_data_); const auto decel_pose = calcLongitudinalOffsetPose( pull_over_path.full_path().points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -2202,7 +2220,7 @@ static std::vector filterOb return refined_filtered_objects; } -bool GoalPlannerModule::isSafePath( +std::pair GoalPlannerModule::isSafePath( const std::shared_ptr planner_data, const bool found_pull_over_path, const std::optional & pull_over_path_opt, const PathDecisionState & prev_data, const GoalPlannerParameters & parameters, @@ -2210,8 +2228,13 @@ bool GoalPlannerModule::isSafePath( const std::shared_ptr & objects_filtering_params, const std::shared_ptr & safety_check_params) const { + using autoware::behavior_path_planner::utils::path_safety_checker::createPredictedPath; + using autoware::behavior_path_planner::utils::path_safety_checker:: + filterPredictedPathAfterTargetPose; + CollisionCheckDebugMap collision_check{}; + if (!found_pull_over_path || !pull_over_path_opt) { - return false; + return {false, collision_check}; } const auto & pull_over_path = pull_over_path_opt.value(); const auto & current_pull_over_path = pull_over_path.getCurrentPath(); @@ -2227,7 +2250,6 @@ bool GoalPlannerModule::isSafePath( const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( *route_handler, left_side_parking_, parameters.backward_goal_search_length, parameters.forward_goal_search_length); - const size_t ego_seg_idx = planner_data->findEgoSegmentIndex(current_pull_over_path.points); const std::pair terminal_velocity_and_accel = pull_over_path.getPairsTerminalVelocityAndAccel(); RCLCPP_DEBUG( @@ -2238,10 +2260,12 @@ bool GoalPlannerModule::isSafePath( // TODO(Sugahara): shoule judge is_object_front properly const bool is_object_front = true; const bool limit_to_max_velocity = true; - const auto ego_predicted_path = - autoware::behavior_path_planner::utils::path_safety_checker::createPredictedPath( - ego_predicted_path_params, current_pull_over_path.points, current_pose, current_velocity, - ego_seg_idx, is_object_front, limit_to_max_velocity); + const auto ego_seg_idx = planner_data->findEgoIndex(current_pull_over_path.points); + const auto ego_predicted_path_from_current_pose = createPredictedPath( + ego_predicted_path_params, current_pull_over_path.points, current_pose, current_velocity, + ego_seg_idx, is_object_front, limit_to_max_velocity); + const auto ego_predicted_path = filterPredictedPathAfterTargetPose( + ego_predicted_path_from_current_pose, pull_over_path.start_pose()); // ========================================================================================== // if ego is before the entry of pull_over_lanes, the beginning of the safety check area @@ -2295,7 +2319,6 @@ bool GoalPlannerModule::isSafePath( const double hysteresis_factor = prev_data.is_stable_safe ? 1.0 : parameters.hysteresis_factor_expand_rate; - CollisionCheckDebugMap collision_check{}; const bool current_is_safe = std::invoke([&]() { if (parameters.safety_check_params.method == "RSS") { return autoware::behavior_path_planner::utils::path_safety_checker::checkSafetyWithRSS( @@ -2315,7 +2338,6 @@ bool GoalPlannerModule::isSafePath( parameters.safety_check_params.method.c_str()); throw std::domain_error("[pull_over] invalid safety check method"); }); - thread_safe_data_.set_collision_check(collision_check); /* * ==== is_safe @@ -2330,7 +2352,7 @@ bool GoalPlannerModule::isSafePath( * | | | | | | | | * 0 =========================-------==========-- t */ - return current_is_safe; + return {current_is_safe, collision_check}; } void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) @@ -2370,8 +2392,7 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) goal_searcher_->getAreaPolygons(), header, color, z)); // Visualize goal candidates - const auto goal_candidates = thread_safe_data_.get_goal_candidates(); - add(goal_planner_utils::createGoalCandidatesMarkerArray(goal_candidates, color)); + add(goal_planner_utils::createGoalCandidatesMarkerArray(goal_candidates_, color)); // Visualize objects extraction polygon auto marker = autoware::universe_utils::createDefaultMarker( @@ -2448,7 +2469,6 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) } } - auto collision_check = thread_safe_data_.get_collision_check(); // safety check if (parameters_->safety_check_params.enable_safety_check) { if (goal_planner_data_.ego_predicted_path.size() > 0) { @@ -2462,6 +2482,7 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) goal_planner_data_.filtered_objects, "filtered_objects", 0, 0.0, 0.5, 0.9)); } + auto collision_check = debug_data_.collision_check; if (parameters_->safety_check_params.method == "RSS") { add(showSafetyCheckInfo(collision_check, "object_debug_info")); } @@ -2594,16 +2615,16 @@ GoalPlannerModule::GoalPlannerData GoalPlannerModule::GoalPlannerData::clone() c GoalPlannerModule::GoalPlannerData gp_planner_data( planner_data, parameters, last_previous_module_output); gp_planner_data.update( - parameters, planner_data, current_status, previous_module_output, goal_searcher, - vehicle_footprint); + parameters, planner_data, current_status, previous_module_output, vehicle_footprint, + goal_candidates); return gp_planner_data; } void GoalPlannerModule::GoalPlannerData::update( const GoalPlannerParameters & parameters_, const PlannerData & planner_data_, const ModuleStatus & current_status_, const BehaviorModuleOutput & previous_module_output_, - const std::shared_ptr goal_searcher_, - const autoware::universe_utils::LinearRing2d & vehicle_footprint_) + const autoware::universe_utils::LinearRing2d & vehicle_footprint_, + const GoalCandidates & goal_candidates_) { parameters = parameters_; vehicle_footprint = vehicle_footprint_; @@ -2614,11 +2635,7 @@ void GoalPlannerModule::GoalPlannerData::update( last_previous_module_output = previous_module_output; previous_module_output = previous_module_output_; occupancy_grid_map->setMap(*(planner_data.occupancy_grid)); - // to create a deepcopy of GoalPlanner(not GoalPlannerBase), goal_searcher_ is not enough, so - // recreate it here - goal_searcher = std::make_shared(parameters, vehicle_footprint); - // and then copy the reference goal - goal_searcher->setReferenceGoal(goal_searcher_->getReferenceGoal()); + goal_candidates = goal_candidates_; } void PathDecisionStateController::transit_state( diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index 0bca5ba7a7864..5607729e1030d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -102,6 +102,16 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p { GoalCandidates goal_candidates{}; + const auto reference_goal_pose_opt = goal_planner_utils::calcRefinedGoal( + planner_data->route_handler->getOriginalGoalPose(), planner_data->route_handler, + left_side_parking_, planner_data->parameters.vehicle_width, + planner_data->parameters.base_link2front, planner_data->parameters.base_link2rear, parameters_); + + if (!reference_goal_pose_opt) { + return goal_candidates; + } + const auto & reference_goal_pose = reference_goal_pose_opt.value(); + const auto & route_handler = planner_data->route_handler; const double forward_length = parameters_.forward_goal_search_length; const double backward_length = parameters_.backward_goal_search_length; @@ -122,7 +132,7 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p const auto departure_check_lane = goal_planner_utils::createDepartureCheckLanelet( pull_over_lanes, *route_handler, left_side_parking_); const auto goal_arc_coords = - lanelet::utils::getArcCoordinates(pull_over_lanes, reference_goal_pose_); + lanelet::utils::getArcCoordinates(pull_over_lanes, reference_goal_pose); const double s_start = std::max(0.0, goal_arc_coords.length - backward_length); const double s_end = goal_arc_coords.length + forward_length; const double longitudinal_interval = use_bus_stop_area @@ -163,7 +173,7 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p const Pose original_search_pose = calcOffsetPose(center_pose, 0, offset_from_center_line, 0); const double longitudinal_distance_from_original_goal = std::abs(autoware::motion_utils::calcSignedArcLength( - center_line_path.points, reference_goal_pose_.position, original_search_pose.position)); + center_line_path.points, reference_goal_pose.position, original_search_pose.position)); original_search_poses.push_back(original_search_pose); // for createAreaPolygon Pose search_pose{}; // search goal_pose in lateral direction @@ -232,7 +242,7 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p void GoalSearcher::countObjectsToAvoid( GoalCandidates & goal_candidates, const PredictedObjects & objects, - const std::shared_ptr & planner_data) const + const std::shared_ptr & planner_data, const Pose & reference_goal_pose) const { const auto & route_handler = planner_data->route_handler; const double forward_length = parameters_.forward_goal_search_length; @@ -244,7 +254,7 @@ void GoalSearcher::countObjectsToAvoid( *route_handler, left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length); const auto goal_arc_coords = - lanelet::utils::getArcCoordinates(pull_over_lanes, reference_goal_pose_); + lanelet::utils::getArcCoordinates(pull_over_lanes, reference_goal_pose); const double s_start = std::max(0.0, goal_arc_coords.length - backward_length); const double s_end = goal_arc_coords.length + forward_length; const auto center_line_path = utils::resamplePathWithSpline( @@ -302,8 +312,18 @@ void GoalSearcher::update( const std::shared_ptr occupancy_grid_map, const std::shared_ptr & planner_data, const PredictedObjects & objects) const { + const auto refined_goal_opt = goal_planner_utils::calcRefinedGoal( + planner_data->route_handler->getOriginalGoalPose(), planner_data->route_handler, + left_side_parking_, planner_data->parameters.vehicle_width, + planner_data->parameters.base_link2front, planner_data->parameters.base_link2rear, parameters_); + + if (!refined_goal_opt) { + return; + } + + const auto & refined_goal = refined_goal_opt.value(); if (parameters_.prioritize_goals_before_objects) { - countObjectsToAvoid(goal_candidates, objects, planner_data); + countObjectsToAvoid(goal_candidates, objects, planner_data, refined_goal); } if (parameters_.goal_priority == "minimum_weighted_distance") { diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index 346e863934945..6bbc34a495080 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -31,7 +31,7 @@ std::unique_ptr GoalPlannerModuleManager::createNewSceneMo { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst index 8737bd9c17d57..cc4ff795e150a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_behavior_path_lane_change_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(lane_change): refactor longitudinal acceleration sampling (`#9091 `_) +* refactor(lane_change): refactor longitudinal acceleration sampling (`#9091 `_) * fix calc_all_max_lc_lengths function * remove unused functions * remove limit on velocity in calc_all_max_lc_lengths function @@ -21,11 +21,11 @@ Changelog for package autoware_behavior_path_lane_change_module * check for zero value prepare duration * refactor calc_lon_acceleration_samples function --------- -* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) * add path with lane id parser * refactor parse to use template --------- -* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) +* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) * RT1-7970 testing base class * additional test * Added update lanes @@ -33,19 +33,19 @@ Changelog for package autoware_behavior_path_lane_change_module * check is lane change required * fix PRs comment --------- -* refactor(lane_change): reducing clang-tidy warnings (`#9085 `_) +* refactor(lane_change): reducing clang-tidy warnings (`#9085 `_) * refactor(lane_change): reducing clang-tidy warnings * change function name to snake case --------- -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* fix(lane_change): insert stop for current lanes object (RT0-33761) (`#9070 `_) +* fix(lane_change): insert stop for current lanes object (RT0-33761) (`#9070 `_) * RT0-33761 fix lc insert stop for current lanes object * fix wrong value used for comparison * ignore current lane object that is not on ego's path @@ -60,11 +60,11 @@ Changelog for package autoware_behavior_path_lane_change_module * change color --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) +* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) * refactor(lane_change): refactor get_lane_change_lanes function * Add doxygen comment for to_geom_msg_pose --------- -* refactor(lane_change): replace any code that can use transient data (`#8999 `_) +* refactor(lane_change): replace any code that can use transient data (`#8999 `_) * RT1-8004 replace hasEnoughLength * RT1-8004 Removed isNearEndOfCurrentLanes * RT1-8004 refactor sample longitudinal acc values @@ -80,7 +80,7 @@ Changelog for package autoware_behavior_path_lane_change_module * RT1-8004 Rename isVehicleStuck to is_ego_stuck() * RT1-8004 change calcPrepareDuration to snake case --------- -* refactor(lane_change): refactor code using transient data (`#8997 `_) +* refactor(lane_change): refactor code using transient data (`#8997 `_) * add target lane length and ego arc length along current and target lanes to transient data * refactor code using transient data * refactor get_lane_change_paths function @@ -88,36 +88,36 @@ Changelog for package autoware_behavior_path_lane_change_module * refactor util functions * refactor getPrepareSegment function --------- -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* fix(lane_change): fix abort distance enough check (`#8979 `_) +* fix(lane_change): fix abort distance enough check (`#8979 `_) * RT1-7991 fix abort distance enough check * RT-7991 remove unused function --------- -* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) +* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) * add transient data * reverted max lc dist in calcCurrentMinMax * rename * minor refactoring * update doxygen comments --------- -* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) +* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum * move functions to relevant module * suppress unused function cppcheck * minor change --------- -* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8960 `_) +* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8960 `_) * fix:unusedFunction * fix:unusedFunction * fix:unusedFunction * fix:pre_commit --------- -* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) +* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -147,18 +147,18 @@ Changelog for package autoware_behavior_path_lane_change_module * add colors to flow chart in README --------- Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(lane_change): add checks to ensure the edge of vehicle do not exceed target lane boundary when changing lanes (`#8750 `_) +* feat(lane_change): add checks to ensure the edge of vehicle do not exceed target lane boundary when changing lanes (`#8750 `_) * check if LC candidate path footprint exceeds target lane far bound * add parameter to enable/disable check * check only lane changing section of cadidate path * fix spelling * small refactoring --------- -* fix(lane_change): set initail rtc state properly (`#8902 `_) +* fix(lane_change): set initail rtc state properly (`#8902 `_) set initail rtc state properly -* feat(lane_change): improve execution condition of lane change module (`#8648 `_) +* feat(lane_change): improve execution condition of lane change module (`#8648 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -171,21 +171,21 @@ Changelog for package autoware_behavior_path_lane_change_module * update readme * check distance to reg element for candidate path only if not near terminal start --------- -* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) +* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) * update rtc state transition * remove transition from failuer and succeeded * fix * check initial state for cooperate status * change rtc cooperate status according to module status --------- -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8653 `_) +* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8653 `_) fix:unusedFunction -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(lane_change): update rtc status for some failure condition (`#8604 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(lane_change): update rtc status for some failure condition (`#8604 `_) update rtc status for some failure condition -* fix(lane_change): activate turn signal as soon as we have the intention to change lanes (`#8571 `_) +* fix(lane_change): activate turn signal as soon as we have the intention to change lanes (`#8571 `_) * modify lane change requested condition * modify lane change requested condition * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -200,13 +200,13 @@ Changelog for package autoware_behavior_path_lane_change_module Co-authored-by: Muhammad Zulfaqar Azmi Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(lane_change): fix delay logic that caused timing to be late (`#8549 `_) +* feat(lane_change): fix delay logic that caused timing to be late (`#8549 `_) * RT1-5067 fix delay logic that caused timing to be late * remove autoware namespace Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(lane_change): modify lane change requested condition (`#8510 `_) +* fix(lane_change): modify lane change requested condition (`#8510 `_) * modify lane change requested condition * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> @@ -215,7 +215,7 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(lane_change): consider deceleration in safety check for cancel (`#7943 `_) +* feat(lane_change): consider deceleration in safety check for cancel (`#7943 `_) * feat(lane_change): consider deceleration in safety check for cancel * docs(lane_change): fix document * fix conflicts and refactor @@ -224,14 +224,14 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: Muhammad Zulfaqar Azmi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (`#8532 `_) +* refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (`#8532 `_) change parameter name for more expressive name -* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) +* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) * goal_planner * lane_change --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) +* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) * function to check for merging lane * function to compute distance from last fit width center line point to lane end * ensure lane width at LC stop point is larger than ego width @@ -242,71 +242,71 @@ Changelog for package autoware_behavior_path_lane_change_module * minor refactoring * overload function isEgoWithinOriginalLane to pass lane polygon directly --------- -* refactor(lane_change): update filtered objects only once (`#8489 `_) -* fix(lane_change): moving object is filtered in the extended target lanes (`#8218 `_) +* refactor(lane_change): update filtered objects only once (`#8489 `_) +* fix(lane_change): moving object is filtered in the extended target lanes (`#8218 `_) * object 3rd * named param --------- -* fix(lane_change): do not cancel when approaching terminal start (`#8381 `_) +* fix(lane_change): do not cancel when approaching terminal start (`#8381 `_) * do not cancel if ego vehicle approaching terminal start * Insert stop point if object is coming from rear * minor edit to fix conflict * rename function --------- -* fix(lane_change): fix invalid doesn't have stop point (`#8470 `_) +* fix(lane_change): fix invalid doesn't have stop point (`#8470 `_) fix invalid doesn't have stop point -* fix(lane_change): unify stuck detection to avoid unnecessary computation (`#8383 `_) +* fix(lane_change): unify stuck detection to avoid unnecessary computation (`#8383 `_) unify stuck detection in getLaneChangePaths -* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) * add optional to tackle LC turn signal and pull over turn signal * CPP file should not re-define default value; typo in copying from internal repos --------- -* refactor(lane_change): separate leading and trailing objects (`#8214 `_) +* refactor(lane_change): separate leading and trailing objects (`#8214 `_) * refactor(lane_change): separate leading and trailing objects * Refactor to use common function --------- -* fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (`#8363 `_) +* fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (`#8363 `_) * fix when prepare length is insufficient * add reason for comparing prev_prep_diff with eps for lc_length_diff --------- -* fix(lane_change): skip generating path if lane changing path is too long (`#8362 `_) +* fix(lane_change): skip generating path if lane changing path is too long (`#8362 `_) rework. skip lane changing for insufficeient distance in target lane -* fix(lane_change): skip path computation if len exceed dist to terminal start (`#8359 `_) +* fix(lane_change): skip path computation if len exceed dist to terminal start (`#8359 `_) Skip computation if prepare length exceed distance to terminal start -* refactor(lane_change): refactor debug print when computing paths (`#8358 `_) +* refactor(lane_change): refactor debug print when computing paths (`#8358 `_) Refactor debug print -* chore(lane_change): add codeowner (`#8387 `_) -* refactor(lane_change): check start point directly after getting start point (`#8357 `_) +* chore(lane_change): add codeowner (`#8387 `_) +* refactor(lane_change): check start point directly after getting start point (`#8357 `_) * check start point directly after getting start point * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(lane_change): use different rss param to deal with parked vehicle (`#8316 `_) +* feat(lane_change): use different rss param to deal with parked vehicle (`#8316 `_) * different rss value for parked vehicle * Documentation and config file update --------- -* fix(lane_change): relax finish judge (`#8133 `_) +* fix(lane_change): relax finish judge (`#8133 `_) * fix(lane_change): relax finish judge * documentation update * update readme explanations * update config --------- -* feat(lane_change): force deactivation in prepare phase (`#8235 `_) +* feat(lane_change): force deactivation in prepare phase (`#8235 `_) transfer to cancel state when force deactivated -* fix(autoware_behavior_path_lane_change_module): fix passedByValue (`#8208 `_) +* fix(autoware_behavior_path_lane_change_module): fix passedByValue (`#8208 `_) fix:passedByValue -* fix(lane_change): filtering object ahead of terminal (`#8093 `_) +* fix(lane_change): filtering object ahead of terminal (`#8093 `_) * employ lanelet based filtering before distance based filtering * use distance based to terminal check instead * remove RCLCPP INFO * update flow chart --------- -* fix(lane_change): delay lane change cancel (`#8048 `_) +* fix(lane_change): delay lane change cancel (`#8048 `_) RT1-6955: delay lane change cancel -* feat(lane_change): enable force execution under unsafe conditions (`#8131 `_) +* feat(lane_change): enable force execution under unsafe conditions (`#8131 `_) add force execution conditions -* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) +* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) * refactor(lane_change): compute lanes and polygon only when updated * Revert accidental changesd This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011. @@ -315,21 +315,21 @@ Changelog for package autoware_behavior_path_lane_change_module * add target lanes getter * some minor function refactoring --------- -* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp * update --------- -* fix(autoware_behavior_path_lane_change_module): fix shadowVariable (`#7964 `_) +* fix(autoware_behavior_path_lane_change_module): fix shadowVariable (`#7964 `_) fix:shadowVariable -* refactor(lane_change): move struct to lane change namespace (`#7841 `_) +* refactor(lane_change): move struct to lane change namespace (`#7841 `_) * move struct to lane change namespace * Revert "move struct to lane change namespace" This reverts commit 306984a76103c427732f170a6f7eb5f94e895b0b. --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(lane_change): prevent empty path when rerouting (`#7717 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(lane_change): prevent empty path when rerouting (`#7717 `_) fix(lane_change): prevent empty path when routing -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -337,18 +337,18 @@ Changelog for package autoware_behavior_path_lane_change_module * fix LC README * use normalized yaw diff --------- -* refactor(lane_change): use lane change namespace for structs (`#7508 `_) +* refactor(lane_change): use lane change namespace for structs (`#7508 `_) * refactor(lane_change): use lane change namespace for structs * Move lane change namespace to bottom level --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp index fd9375c7e9f75..bd309dd35a260 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp @@ -52,7 +52,6 @@ class LaneChangeInterface : public SceneModuleInterface const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr, std::unique_ptr && module_type); LaneChangeInterface(const LaneChangeInterface &) = delete; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index 4c8cbe05f5535..dd21233c716f1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -169,12 +169,13 @@ class NormalLaneChange : public LaneChangeBase bool has_collision_with_decel_patterns( const LaneChangePath & lane_change_path, const ExtendedPredictedObjects & objects, const size_t deceleration_sampling_num, const RSSparams & rss_param, - CollisionCheckDebugMap & debug_data) const; + const bool check_prepare_phase, CollisionCheckDebugMap & debug_data) const; bool is_collided( - const PathWithLaneId & lane_change_path, const ExtendedPredictedObject & obj, + const LaneChangePath & lane_change_path, const ExtendedPredictedObject & obj, const std::vector & ego_predicted_path, - const RSSparams & selected_rss_param, CollisionCheckDebugMap & debug_data) const; + const RSSparams & selected_rss_param, const bool check_prepare_phase, + CollisionCheckDebugMap & debug_data) const; double get_max_velocity_for_safety_check() const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index d970976d80a8d..16b2b69a81af8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -311,9 +311,9 @@ struct PathSafetyStatus struct LanesPolygon { - std::optional current; - std::optional target; - std::optional expanded_target; + lanelet::BasicPolygon2d current; + lanelet::BasicPolygon2d target; + lanelet::BasicPolygon2d expanded_target; lanelet::BasicPolygon2d target_neighbor; std::vector preceding_target; }; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index 4bd5d1e53ed6c..edf64ecdc49ee 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -140,16 +140,15 @@ std::optional getLeadingStaticObjectIdx( const std::vector & objects, const double object_check_min_road_shoulder_width, const double object_shiftable_ratio_threshold); -std::optional createPolygon( +lanelet::BasicPolygon2d create_polygon( const lanelet::ConstLanelets & lanes, const double start_dist, const double end_dist); ExtendedPredictedObject transform( const PredictedObject & object, const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase); + const LaneChangeParameters & lane_change_parameters); -bool isCollidedPolygonsInLanelet( - const std::vector & collided_polygons, - const std::optional & lanes_polygon); +bool is_collided_polygons_in_lanelet( + const std::vector & collided_polygons, const lanelet::BasicPolygon2d & lanes_polygon); /** * @brief Generates expanded lanelets based on the given direction and offsets. @@ -250,8 +249,7 @@ bool is_before_terminal( double calc_angle_to_lanelet_segment(const lanelet::ConstLanelets & lanelets, const Pose & pose); ExtendedPredictedObjects transform_to_extended_objects( - const CommonDataPtr & common_data_ptr, const std::vector & objects, - const bool check_prepare_phase); + const CommonDataPtr & common_data_ptr, const std::vector & objects); double get_distance_to_next_regulatory_element( const CommonDataPtr & common_data_ptr, const bool ignore_crosswalk = false, diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 8fb1459f62c98..44252bb9f2005 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -38,15 +38,16 @@ LaneChangeInterface::LaneChangeInterface( const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr, std::unique_ptr && module_type) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{std::move(parameters)}, module_type_{std::move(module_type)}, prev_approved_path_{std::make_unique()} { module_type_->setTimeKeeper(getTimeKeeper()); logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr()); + steering_factor_interface_.init(PlanningBehavior::LANE_CHANGE); + velocity_factor_interface_.init(PlanningBehavior::LANE_CHANGE); } void LaneChangeInterface::processOnExit() @@ -145,6 +146,8 @@ BehaviorModuleOutput LaneChangeInterface::plan() } } + setVelocityFactor(output.path); + return output; } @@ -179,6 +182,8 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() isExecutionReady(), State::WAITING_FOR_EXECUTION); is_abort_path_approved_ = false; + setVelocityFactor(out.path); + return out; } @@ -422,10 +427,9 @@ void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & o const auto finish_distance = autoware::motion_utils::calcSignedArcLength( output.path.points, current_position, status.lane_change_path.info.shift_line.end.position); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status.lane_change_path.info.shift_line.start, status.lane_change_path.info.shift_line.end}, - {start_distance, finish_distance}, PlanningBehavior::LANE_CHANGE, steering_factor_direction, - SteeringFactor::TURNING, ""); + {start_distance, finish_distance}, steering_factor_direction, SteeringFactor::TURNING, ""); } void LaneChangeInterface::updateSteeringFactorPtr( @@ -438,9 +442,9 @@ void LaneChangeInterface::updateSteeringFactorPtr( return SteeringFactor::RIGHT; }); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {selected_path.info.shift_line.start, selected_path.info.shift_line.end}, {output.start_distance_to_path_change, output.finish_distance_to_path_change}, - PlanningBehavior::LANE_CHANGE, steering_factor_direction, SteeringFactor::APPROACHING, ""); + steering_factor_direction, SteeringFactor::APPROACHING, ""); } } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index 04371e8ff3f37..10dba38645f39 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -310,7 +310,7 @@ std::unique_ptr LaneChangeModuleManager::createNewSceneMod { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_, + objects_of_interest_marker_interface_ptr_map_, std::make_unique(parameters_, LaneChangeModuleType::NORMAL, direction_)); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 96f842e7dada1..3f06ff0481c7e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -512,7 +512,7 @@ void NormalLaneChange::insert_stop_point_on_current_lanes(PathWithLaneId & path) dist_to_terminal - min_dist_buffer - calculation::calc_stopping_distance(lc_param_ptr); const auto distance_to_last_fit_width = std::invoke([&]() -> double { - const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current.value(); + const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current; if (utils::isEgoWithinOriginalLane(curr_lanes_poly, getEgoPose(), *bpp_param_ptr)) { return utils::lane_change::calculation::calc_dist_to_last_fit_width( lanes_ptr->current, path.points.front().point.pose, *bpp_param_ptr); @@ -730,7 +730,7 @@ bool NormalLaneChange::hasFinishedLaneChange() const if (has_passed_end_pose) { const auto & lanes_polygon = common_data_ptr_->lanes_polygon_ptr->target; return !boost::geometry::disjoint( - lanes_polygon.value(), + lanes_polygon, lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(current_pose.position))); } @@ -757,7 +757,7 @@ bool NormalLaneChange::isAbleToReturnCurrentLane() const return false; } - const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current.value(); + const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current; if (!utils::isEgoWithinOriginalLane( curr_lanes_poly, getEgoPose(), planner_data_->parameters, lane_change_parameters_->cancel.overhang_tolerance)) { @@ -833,7 +833,7 @@ bool NormalLaneChange::isAbleToStopSafely() const const auto stop_dist = -(current_velocity * current_velocity / (2.0 * planner_data_->parameters.min_acc)); - const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current.value(); + const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current; double dist = 0.0; for (size_t idx = nearest_idx; idx < status_.lane_change_path.path.points.size() - 1; ++idx) { dist += calcSignedArcLength(status_.lane_change_path.path.points, idx, idx + 1); @@ -1006,17 +1006,16 @@ FilteredByLanesExtendedObjects NormalLaneChange::filterObjects() const return is_within_vel_th(object) && ahead_of_ego; }); - const auto is_check_prepare_phase = check_prepare_phase(); const auto target_lane_leading_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.target_lane_leading, is_check_prepare_phase); + common_data_ptr_, filtered_by_lanes_objects.target_lane_leading); const auto target_lane_trailing_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.target_lane_trailing, is_check_prepare_phase); + common_data_ptr_, filtered_by_lanes_objects.target_lane_trailing); const auto current_lane_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.current_lane, is_check_prepare_phase); + common_data_ptr_, filtered_by_lanes_objects.current_lane); const auto other_lane_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.other_lane, is_check_prepare_phase); + common_data_ptr_, filtered_by_lanes_objects.other_lane); FilteredByLanesExtendedObjects lane_change_target_objects( current_lane_extended_objects, target_lane_leading_extended_objects, @@ -1066,7 +1065,7 @@ FilteredByLanesObjects NormalLaneChange::filterObjectsByLanelets( const auto & route_handler = getRouteHandler(); const auto & common_parameters = planner_data_->parameters; const auto check_optional_polygon = [](const auto & object, const auto & polygon) { - return polygon && isPolygonOverlapLanelet(object, *polygon); + return !polygon.empty() && isPolygonOverlapLanelet(object, polygon); }; // get backward lanes @@ -1856,10 +1855,13 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( return {is_safe, !is_object_behind_ego}; } + const auto is_check_prepare_phase = check_prepare_phase(); + const auto all_decel_pattern_has_collision = [&](const utils::path_safety_checker::ExtendedPredictedObjects & objects) -> bool { return has_collision_with_decel_patterns( - lane_change_path, objects, deceleration_sampling_num, rss_params, debug_data); + lane_change_path, objects, deceleration_sampling_num, rss_params, is_check_prepare_phase, + debug_data); }; if (all_decel_pattern_has_collision(collision_check_objects.trailing)) { @@ -1876,7 +1878,7 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( bool NormalLaneChange::has_collision_with_decel_patterns( const LaneChangePath & lane_change_path, const ExtendedPredictedObjects & objects, const size_t deceleration_sampling_num, const RSSparams & rss_param, - CollisionCheckDebugMap & debug_data) const + const bool check_prepare_phase, CollisionCheckDebugMap & debug_data) const { if (objects.empty()) { return false; @@ -1922,7 +1924,8 @@ bool NormalLaneChange::has_collision_with_decel_patterns( ? lane_change_parameters_->rss_params_for_parked : rss_param; return is_collided( - lane_change_path.path, obj, ego_predicted_path, selected_rss_param, debug_data); + lane_change_path, obj, ego_predicted_path, selected_rss_param, check_prepare_phase, + debug_data); }); }); @@ -1930,13 +1933,14 @@ bool NormalLaneChange::has_collision_with_decel_patterns( } bool NormalLaneChange::is_collided( - const PathWithLaneId & lane_change_path, const ExtendedPredictedObject & obj, + const LaneChangePath & lane_change_path, const ExtendedPredictedObject & obj, const std::vector & ego_predicted_path, - const RSSparams & selected_rss_param, CollisionCheckDebugMap & debug_data) const + const RSSparams & selected_rss_param, const bool check_prepare_phase, + CollisionCheckDebugMap & debug_data) const { constexpr auto is_collided{true}; - if (lane_change_path.points.empty()) { + if (lane_change_path.path.points.empty()) { return !is_collided; } @@ -1948,7 +1952,7 @@ bool NormalLaneChange::is_collided( const auto & current_polygon = lanes_polygon_ptr->current; const auto & expanded_target_polygon = lanes_polygon_ptr->target; - if (!current_polygon.has_value() || !expanded_target_polygon.has_value()) { + if (current_polygon.empty() || expanded_target_polygon.empty()) { return !is_collided; } @@ -1961,9 +1965,23 @@ bool NormalLaneChange::is_collided( const auto safety_check_max_vel = get_max_velocity_for_safety_check(); const auto & bpp_param = *common_data_ptr_->bpp_param_ptr; + const double velocity_threshold = lane_change_parameters_->stopped_object_velocity_threshold; + const double prepare_duration = lane_change_path.info.duration.prepare; + const double start_time = check_prepare_phase ? 0.0 : prepare_duration; + for (const auto & obj_path : obj_predicted_paths) { + utils::path_safety_checker::PredictedPathWithPolygon predicted_obj_path; + predicted_obj_path.confidence = obj_path.confidence; + std::copy_if( + obj_path.path.begin(), obj_path.path.end(), std::back_inserter(predicted_obj_path.path), + [&](const auto & entry) { + return !( + entry.time < start_time || + (entry.time < prepare_duration && entry.velocity < velocity_threshold)); + }); + const auto collided_polygons = utils::path_safety_checker::get_collided_polygons( - lane_change_path, ego_predicted_path, obj, obj_path, bpp_param.vehicle_info, + lane_change_path.path, ego_predicted_path, obj, predicted_obj_path, bpp_param.vehicle_info, selected_rss_param, hysteresis_factor, safety_check_max_vel, collision_check_yaw_diff_threshold, current_debug_data.second); @@ -1974,9 +1992,9 @@ bool NormalLaneChange::is_collided( } const auto collision_in_current_lanes = - utils::lane_change::isCollidedPolygonsInLanelet(collided_polygons, current_polygon); - const auto collision_in_target_lanes = - utils::lane_change::isCollidedPolygonsInLanelet(collided_polygons, expanded_target_polygon); + utils::lane_change::is_collided_polygons_in_lanelet(collided_polygons, current_polygon); + const auto collision_in_target_lanes = utils::lane_change::is_collided_polygons_in_lanelet( + collided_polygons, expanded_target_polygon); if (!collision_in_current_lanes && !collision_in_target_lanes) { utils::path_safety_checker::updateCollisionCheckDebugMap( @@ -2062,7 +2080,7 @@ bool NormalLaneChange::is_valid_start_point( const lanelet::BasicPoint2d lc_start_point(pose.position.x, pose.position.y); const auto & target_neighbor_poly = common_data_ptr->lanes_polygon_ptr->target_neighbor; - const auto & target_lane_poly = common_data_ptr_->lanes_polygon_ptr->target.value(); + const auto & target_lane_poly = common_data_ptr_->lanes_polygon_ptr->target; return boost::geometry::covered_by(lc_start_point, target_neighbor_poly) || boost::geometry::covered_by(lc_start_point, target_lane_poly); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index fb7b201c7cd55..69cf6441ef766 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -900,12 +900,13 @@ std::optional getLeadingStaticObjectIdx( return leading_obj_idx; } -std::optional createPolygon( +lanelet::BasicPolygon2d create_polygon( const lanelet::ConstLanelets & lanes, const double start_dist, const double end_dist) { if (lanes.empty()) { return {}; } + const auto polygon_3d = lanelet::utils::getPolygonFromArcLength(lanes, start_dist, end_dist); return lanelet::utils::to2D(polygon_3d).basicPolygon(); } @@ -913,14 +914,11 @@ std::optional createPolygon( ExtendedPredictedObject transform( const PredictedObject & object, [[maybe_unused]] const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase) + const LaneChangeParameters & lane_change_parameters) { ExtendedPredictedObject extended_object(object); const auto & time_resolution = lane_change_parameters.prediction_time_resolution; - const auto & prepare_duration = lane_change_parameters.lane_change_prepare_duration; - const auto & velocity_threshold = lane_change_parameters.stopped_object_velocity_threshold; - const auto start_time = check_at_prepare_phase ? 0.0 : prepare_duration; const double obj_vel_norm = std::hypot(extended_object.initial_twist.linear.x, extended_object.initial_twist.linear.y); @@ -932,11 +930,8 @@ ExtendedPredictedObject transform( extended_object.predicted_paths.at(i).confidence = path.confidence; // create path - for (double t = start_time; t < end_time + std::numeric_limits::epsilon(); + for (double t = 0.0; t < end_time + std::numeric_limits::epsilon(); t += time_resolution) { - if (t < prepare_duration && obj_vel_norm < velocity_threshold) { - continue; - } const auto obj_pose = autoware::object_recognition_utils::calcInterpolatedPose(path, t); if (obj_pose) { const auto obj_polygon = autoware::universe_utils::toPolygon2d(*obj_pose, object.shape); @@ -949,12 +944,11 @@ ExtendedPredictedObject transform( return extended_object; } -bool isCollidedPolygonsInLanelet( - const std::vector & collided_polygons, - const std::optional & lanes_polygon) +bool is_collided_polygons_in_lanelet( + const std::vector & collided_polygons, const lanelet::BasicPolygon2d & lanes_polygon) { const auto is_in_lanes = [&](const auto & collided_polygon) { - return lanes_polygon && boost::geometry::intersects(lanes_polygon.value(), collided_polygon); + return !lanes_polygon.empty() && !boost::geometry::disjoint(collided_polygon, lanes_polygon); }; return std::any_of(collided_polygons.begin(), collided_polygons.end(), is_in_lanes); @@ -1033,28 +1027,28 @@ LanesPolygon create_lanes_polygon(const CommonDataPtr & common_data_ptr) LanesPolygon lanes_polygon; lanes_polygon.current = - utils::lane_change::createPolygon(lanes->current, 0.0, std::numeric_limits::max()); + utils::lane_change::create_polygon(lanes->current, 0.0, std::numeric_limits::max()); lanes_polygon.target = - utils::lane_change::createPolygon(lanes->target, 0.0, std::numeric_limits::max()); + utils::lane_change::create_polygon(lanes->target, 0.0, std::numeric_limits::max()); const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; const auto expanded_target_lanes = utils::lane_change::generateExpandedLanelets( lanes->target, common_data_ptr->direction, lc_param_ptr->lane_expansion_left_offset, lc_param_ptr->lane_expansion_right_offset); - lanes_polygon.expanded_target = utils::lane_change::createPolygon( + lanes_polygon.expanded_target = utils::lane_change::create_polygon( expanded_target_lanes, 0.0, std::numeric_limits::max()); - lanes_polygon.target_neighbor = *utils::lane_change::createPolygon( + lanes_polygon.target_neighbor = utils::lane_change::create_polygon( lanes->target_neighbor, 0.0, std::numeric_limits::max()); lanes_polygon.preceding_target.reserve(lanes->preceding_target.size()); for (const auto & preceding_lane : lanes->preceding_target) { auto lane_polygon = - utils::lane_change::createPolygon(preceding_lane, 0.0, std::numeric_limits::max()); + utils::lane_change::create_polygon(preceding_lane, 0.0, std::numeric_limits::max()); - if (lane_polygon) { - lanes_polygon.preceding_target.push_back(*lane_polygon); + if (!lane_polygon.empty()) { + lanes_polygon.preceding_target.push_back(lane_polygon); } } return lanes_polygon; @@ -1163,8 +1157,7 @@ double calc_angle_to_lanelet_segment(const lanelet::ConstLanelets & lanelets, co } ExtendedPredictedObjects transform_to_extended_objects( - const CommonDataPtr & common_data_ptr, const std::vector & objects, - const bool check_prepare_phase) + const CommonDataPtr & common_data_ptr, const std::vector & objects) { ExtendedPredictedObjects extended_objects; extended_objects.reserve(objects.size()); @@ -1173,7 +1166,7 @@ ExtendedPredictedObjects transform_to_extended_objects( const auto & lc_param = *common_data_ptr->lc_param_ptr; std::transform( objects.begin(), objects.end(), std::back_inserter(extended_objects), [&](const auto & object) { - return utils::lane_change::transform(object, bpp_param, lc_param, check_prepare_phase); + return utils::lane_change::transform(object, bpp_param, lc_param); }); return extended_objects; @@ -1260,7 +1253,7 @@ bool has_blocking_target_object( // filtered_objects includes objects out of target lanes, so filter them out if (boost::geometry::disjoint( - object.initial_polygon, common_data_ptr->lanes_polygon_ptr->target.value())) { + object.initial_polygon, common_data_ptr->lanes_polygon_ptr->target)) { return false; } @@ -1312,14 +1305,14 @@ bool has_overtaking_turn_lane_object( } const auto is_path_overlap_with_target = [&](const LineString2d & path) { - return !boost::geometry::disjoint(path, common_data_ptr->lanes_polygon_ptr->target.value()); + return !boost::geometry::disjoint(path, common_data_ptr->lanes_polygon_ptr->target); }; const auto is_object_overlap_with_target = [&](const auto & object) { // to compensate for perception issue, or if object is from behind ego, and tries to overtake, // but stop all of sudden if (!boost::geometry::disjoint( - object.initial_polygon, common_data_ptr->lanes_polygon_ptr->current.value())) { + object.initial_polygon, common_data_ptr->lanes_polygon_ptr->current)) { return true; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst index 79b47dbe4b481..eb9dc2c942d71 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst @@ -5,41 +5,41 @@ Changelog for package autoware_behavior_path_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_behavior_path_planner): fix cppcheck unusedVariable (`#9193 `_) -* fix(behavior_path_planner): suppress reseting root lanelet (`#9129 `_) +* fix(autoware_behavior_path_planner): fix cppcheck unusedVariable (`#9193 `_) +* fix(behavior_path_planner): suppress reseting root lanelet (`#9129 `_) fix(behavior_path_planner): suppress resseting root lanelet -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* test(bpp_common): add test for object related functions (`#9062 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* test(bpp_common): add test for object related functions (`#9062 `_) * add test for object related functions * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR * fix build error --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(autoware_behavior_path_planner): fix syntaxError (`#8834 `_) +* fix(autoware_behavior_path_planner): fix syntaxError (`#8834 `_) fix:syntaxError -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) -* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) -* fix(docs): fix dead links in behavior path planner manager (`#8309 `_) +* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* fix(docs): fix dead links in behavior path planner manager (`#8309 `_) * fix dead links * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(behavior_path_planner, spellchecks): spell checks in behavior path planner (`#8307 `_) +* fix(behavior_path_planner, spellchecks): spell checks in behavior path planner (`#8307 `_) * fix spell checks in behavior path planner * try re-routable --------- -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -48,26 +48,26 @@ Changelog for package autoware_behavior_path_planner Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(autoware_behavior_path_planner): prevent infinite loop in approving scene module process (`#7881 `_) +* feat(autoware_behavior_path_planner): prevent infinite loop in approving scene module process (`#7881 `_) * prevent infinite loop * calculate max_iteration_num from number of scene modules * add doxygen explanation for calculateMaxIterationNum --------- -* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp * update --------- -* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) +* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) * feat(behavior_path_planner): remove max_module_size param The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp index 1965a0f909927..f0bd4486eb04a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp @@ -17,10 +17,10 @@ #include "autoware/behavior_path_planner_common/data_manager.hpp" #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" -#include "autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp" #include "autoware/universe_utils/ros/logger_level_configure.hpp" #include "planner_manager.hpp" +#include #include #include @@ -52,6 +52,7 @@ namespace autoware::behavior_path_planner { +using autoware::motion_utils::SteeringFactorInterface; using autoware_adapi_v1_msgs::msg::OperationModeState; using autoware_map_msgs::msg::LaneletMapBin; using autoware_perception_msgs::msg::PredictedObject; @@ -65,7 +66,6 @@ using autoware_vehicle_msgs::msg::TurnIndicatorsCommand; using nav_msgs::msg::OccupancyGrid; using nav_msgs::msg::Odometry; using rcl_interfaces::msg::SetParametersResult; -using steering_factor_interface::SteeringFactorInterface; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; using tier4_planning_msgs::msg::LateralOffset; using tier4_planning_msgs::msg::PathWithLaneId; @@ -124,6 +124,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr modified_goal_publisher_; rclcpp::Publisher::SharedPtr stop_reason_publisher_; rclcpp::Publisher::SharedPtr reroute_availability_publisher_; + rclcpp::Publisher::SharedPtr pub_steering_factors_; rclcpp::TimerBase::SharedPtr timer_; std::map::SharedPtr> path_candidate_publishers_; @@ -138,7 +139,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node std::shared_ptr planner_manager_; - std::unique_ptr steering_factor_interface_ptr_; + SteeringFactorInterface steering_factor_interface_; std::mutex mutex_pd_; // mutex for planner_data_ std::mutex mutex_manager_; // mutex for bt_manager_ or planner_manager_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index d168361a19858..a2fffa0bb7a63 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -52,6 +52,8 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod modified_goal_publisher_ = create_publisher("~/output/modified_goal", durable_qos); stop_reason_publisher_ = create_publisher("~/output/stop_reasons", 1); + pub_steering_factors_ = + create_publisher("/planning/steering_factor/intersection", 1); reroute_availability_publisher_ = create_publisher("~/output/is_reroute_available", 1); debug_avoidance_msg_array_publisher_ = @@ -114,7 +116,7 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod turn_signal_search_time, turn_signal_intersection_angle_threshold_deg); } - steering_factor_interface_ptr_ = std::make_unique(this, "intersection"); + steering_factor_interface_.init(PlanningBehavior::INTERSECTION); // Start timer { @@ -473,13 +475,23 @@ void BehaviorPathPlannerNode::publish_steering_factor( const auto [intersection_pose, intersection_distance] = planner_data->turn_signal_decider.getIntersectionPoseAndDistance(); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {intersection_pose, intersection_pose}, {intersection_distance, intersection_distance}, - PlanningBehavior::INTERSECTION, steering_factor_direction, SteeringFactor::TURNING, ""); + steering_factor_direction, SteeringFactor::TURNING, ""); } else { - steering_factor_interface_ptr_->clearSteeringFactors(); + steering_factor_interface_.reset(); } - steering_factor_interface_ptr_->publishSteeringFactor(get_clock()->now()); + + autoware_adapi_v1_msgs::msg::SteeringFactorArray steering_factor_array; + steering_factor_array.header.frame_id = "map"; + steering_factor_array.header.stamp = this->now(); + + const auto steering_factor = steering_factor_interface_.get(); + if (steering_factor.behavior != PlanningBehavior::UNKNOWN) { + steering_factor_array.factors.emplace_back(steering_factor); + } + + pub_steering_factors_->publish(steering_factor_array); } void BehaviorPathPlannerNode::publish_reroute_availability() const diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp index 6281988036635..bd5b391127467 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp @@ -177,6 +177,8 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da std::for_each(manager_ptrs_.begin(), manager_ptrs_.end(), [](const auto & m) { m->updateObserver(); m->publishRTCStatus(); + m->publishSteeringFactor(); + m->publishVelocityFactor(); }); generateCombinedDrivableArea(result_output.valid_output, data); @@ -750,8 +752,6 @@ BehaviorModuleOutput SubPlannerManager::run( module_ptr->updateCurrentState(); - module_ptr->publishSteeringFactor(); - module_ptr->publishObjectsOfInterestMarker(); processing_time_.at(module_ptr->name()) += stop_watch.toc(module_ptr->name(), true); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst index b3168613e053f..cba7021dcc6bc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst @@ -5,30 +5,30 @@ Changelog for package autoware_behavior_path_planner_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(traffic_light_utils): prevent accessing nullopt (`#9163 `_) -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(traffic_light_utils): prevent accessing nullopt (`#9163 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* test(bpp_common): add test for path utils (`#9122 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* test(bpp_common): add test for path utils (`#9122 `_) * add test file for path utils * fix * add tests for map irrelevant function * add test for getUnshiftedEgoPose * add docstring and remove unneccesary function --------- -* feat(test_utils): add simple path with lane id generator (`#9113 `_) +* feat(test_utils): add simple path with lane id generator (`#9113 `_) * add simple path with lane id generator * chnage to explicit template * fix * add static cast * remove header file --------- -* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) +* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) * RT1-7970 testing base class * additional test * Added update lanes @@ -36,88 +36,88 @@ Changelog for package autoware_behavior_path_planner_common * check is lane change required * fix PRs comment --------- -* test(bpp_common): add test for objects filtering except for lanelet using functions (`#9049 `_) +* test(bpp_common): add test for objects filtering except for lanelet using functions (`#9049 `_) * add test for objects filtering except for lanelet using functions * remove unnecessary include file * add doxygen --------- -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* test(bpp_common): add test for occupancy grid based collision detector (`#9066 `_) +* test(bpp_common): add test for occupancy grid based collision detector (`#9066 `_) * add test for occupancy grid based collision detector * remove unnnecessary header * fix * change map resolution and corresponding index --------- -* test(bpp_common): add test for parking departure utils (`#9055 `_) +* test(bpp_common): add test for parking departure utils (`#9055 `_) * add test for parking departure utils * fix * fix typo * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR --------- -* test(bpp_common): add test for object related functions (`#9062 `_) +* test(bpp_common): add test for object related functions (`#9062 `_) * add test for object related functions * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR * fix build error --------- -* test(bpp_common): add test for footprint (`#9056 `_) +* test(bpp_common): add test for footprint (`#9056 `_) add test for footprint -* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) +* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) * refactor(lane_change): refactor get_lane_change_lanes function * Add doxygen comment for to_geom_msg_pose --------- -* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) fix filter object by velocity -* feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (`#9005 `_) +* feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (`#9005 `_) * feat(turn_signal_decider): disable feature of turning off blinker at low velocity --------- -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(behavior_path_planner): fix rtc state update logic (`#8899 `_) +* fix(behavior_path_planner): fix rtc state update logic (`#8899 `_) * fix function updateRTCStatus * fix pre-commit --------- -* test(autoware_behavior_path_planner_common): add tests for calcInterpolatedPoseWithVelocity (`#8270 `_) +* test(autoware_behavior_path_planner_common): add tests for calcInterpolatedPoseWithVelocity (`#8270 `_) * test: add interpolated pose calculation function's test * disabled SpecialCases test --------- -* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) -* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) -* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8736 `_) +* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) +* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8736 `_) fix:unusedFunction -* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8707 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8707 `_) * fix:createDrivableLanesMarkerArray and setDecelerationVelocity * fix:convertToSnakeCase * fix:clang format --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8654 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8654 `_) * fix:unusedFunction 0-2 * fix:unusedFunction 3-5 * fix:unusedFunction --------- -* chore(behavior_path_planner_common): update road_shoulder test_map (`#8550 `_) -* perf(goal_planner): faster path sorting and selection (`#8457 `_) +* chore(behavior_path_planner_common): update road_shoulder test_map (`#8550 `_) +* perf(goal_planner): faster path sorting and selection (`#8457 `_) * perf(goal_planner): faster path sorting and selection * path_id_to_rough_margin_map --------- -* feat(behavior_path_planner_common): add calculateRoughDistanceToObjects (`#8464 `_) -* fix(autoware_behavior_path_planner_common): fix variableScope (`#8443 `_) +* feat(behavior_path_planner_common): add calculateRoughDistanceToObjects (`#8464 `_) +* fix(autoware_behavior_path_planner_common): fix variableScope (`#8443 `_) fix:variableScope -* refactor(safety_checker): remove redundant polygon creation (`#8502 `_) -* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) +* refactor(safety_checker): remove redundant polygon creation (`#8502 `_) +* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) * function to check for merging lane * function to compute distance from last fit width center line point to lane end * ensure lane width at LC stop point is larger than ego width @@ -128,54 +128,54 @@ Changelog for package autoware_behavior_path_planner_common * minor refactoring * overload function isEgoWithinOriginalLane to pass lane polygon directly --------- -* feat(behavior_path_planner_common): add road_shoulder test map (`#8454 `_) -* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) +* feat(behavior_path_planner_common): add road_shoulder test map (`#8454 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) * add optional to tackle LC turn signal and pull over turn signal * CPP file should not re-define default value; typo in copying from internal repos --------- -* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) +* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) * perf(safety_check): check within first * perf(static_obstacle_avoidance): remove duplicated process * perf(static_obstacle_avoidance): remove heavy process --------- -* fix(start/goal_planner): align geometric parall parking start pose with center line (`#8326 `_) -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* feat(path_safety_checker): add rough collision check (`#8193 `_) +* fix(start/goal_planner): align geometric parall parking start pose with center line (`#8326 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* feat(path_safety_checker): add rough collision check (`#8193 `_) * feat(path_safety_checker): add rough collision check * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp --------- -* fix(autoware_behavior_path_planner_common): fix passedByValue (`#8209 `_) +* fix(autoware_behavior_path_planner_common): fix passedByValue (`#8209 `_) * fix:clang format * fix:passedByValue * fix:passedByValue --------- -* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) -* fix(bpp): fix approved request search (`#8119 `_) +* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) +* fix(bpp): fix approved request search (`#8119 `_) fix existApprovedRequest condition -* fix(bpp, rtc_interface): fix state transition (`#7743 `_) +* fix(bpp, rtc_interface): fix state transition (`#7743 `_) * fix(rtc_interface): check rtc state * fix(bpp_interface): check rtc state * feat(rtc_interface): print --------- -* fix(autoware_behavior_path_planner_common): fix constParameterReference (`#8045 `_) +* fix(autoware_behavior_path_planner_common): fix constParameterReference (`#8045 `_) fix:constParameterReference -* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp * update --------- -* fix(autoware_behavior_path_planner_common): fix shadowVariable (`#7965 `_) +* fix(autoware_behavior_path_planner_common): fix shadowVariable (`#7965 `_) fix:shadowVariable -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* fix(autoware_behavior_path_planner_common): fix knownConditionTrueFalse (`#7816 `_) -* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) +* fix(autoware_behavior_path_planner_common): fix knownConditionTrueFalse (`#7816 `_) +* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) * feat(behavior_path_planner): remove max_module_size param The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -183,25 +183,25 @@ Changelog for package autoware_behavior_path_planner_common * fix LC README * use normalized yaw diff --------- -* fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning (`#7675 `_) +* fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning (`#7675 `_) * fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning * fix type --------- -* fix(autoware_behavior_path_planner_common): fix shadowArgument warning in getDistanceToCrosswalk (`#7665 `_) -* fix(autoware_behavior_path_planner_common): fix shadowArgument warning (`#7623 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_path_planner_common): fix redundantContinue warning (`#7578 `_) -* fix(behavior_path_planner): fix redundantAssignment warning (`#7560 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_behavior_path_planner_common): fix shadowArgument warning in getDistanceToCrosswalk (`#7665 `_) +* fix(autoware_behavior_path_planner_common): fix shadowArgument warning (`#7623 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_planner_common): fix redundantContinue warning (`#7578 `_) +* fix(behavior_path_planner): fix redundantAssignment warning (`#7560 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(behavior_path_planner): fix redundantIfRemove warning (`#7544 `_) -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* fix(behavior_path_planner): fix redundantIfRemove warning (`#7544 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) Co-authored-by: Fumiya Watanabe -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -218,15 +218,15 @@ Changelog for package autoware_behavior_path_planner_common fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index bcc8dd9d9f299..ac33966a1bf7c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -8,7 +8,6 @@ find_package(magic_enum CONFIG REQUIRED) ament_auto_add_library(${PROJECT_NAME} SHARED src/turn_signal_decider.cpp - src/interface/steering_factor_interface.cpp src/interface/scene_module_visitor.cpp src/interface/scene_module_interface.cpp src/interface/scene_module_manager_interface.cpp @@ -45,6 +44,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_drivable_area_expansion test/test_drivable_area_expansion.cpp test/test_footprints.cpp + test/test_static_drivable_area.cpp ) target_link_libraries(test_${PROJECT_NAME}_drivable_area_expansion diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index f536b211da8a6..5da5c9ccc6c15 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -20,8 +20,9 @@ #include "autoware/behavior_path_planner_common/marker_utils/utils.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" -#include #include +#include +#include #include #include #include @@ -35,8 +36,7 @@ #include #include -#include -#include +#include #include #include #include @@ -57,6 +57,8 @@ namespace autoware::behavior_path_planner { +using autoware::motion_utils::SteeringFactorInterface; +using autoware::motion_utils::VelocityFactorInterface; using autoware::objects_of_interest_marker_interface::ColorName; using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using autoware::rtc_interface::RTCInterface; @@ -64,7 +66,7 @@ using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::generateUUID; using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::SteeringFactor; -using steering_factor_interface::SteeringFactorInterface; +using autoware_adapi_v1_msgs::msg::VelocityFactor; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; using tier4_planning_msgs::msg::PathWithLaneId; using tier4_planning_msgs::msg::StopFactor; @@ -90,15 +92,13 @@ class SceneModuleInterface const std::string & name, rclcpp::Node & node, std::unordered_map> rtc_interface_ptr_map, std::unordered_map> - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) + objects_of_interest_marker_interface_ptr_map) : name_{name}, logger_{node.get_logger().get_child(name)}, clock_{node.get_clock()}, rtc_interface_ptr_map_(std::move(rtc_interface_ptr_map)), objects_of_interest_marker_interface_ptr_map_( std::move(objects_of_interest_marker_interface_ptr_map)), - steering_factor_interface_ptr_{steering_factor_interface_ptr}, time_keeper_(std::make_shared()) { for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { @@ -189,7 +189,8 @@ class SceneModuleInterface clearWaitingApproval(); unlockNewModuleLaunch(); unlockOutputPath(); - steering_factor_interface_ptr_->clearSteeringFactors(); + + reset_factor(); stop_reason_ = StopReason(); @@ -205,14 +206,6 @@ class SceneModuleInterface } } - void publishSteeringFactor() - { - if (!steering_factor_interface_ptr_) { - return; - } - steering_factor_interface_ptr_->publishSteeringFactor(clock_->now()); - } - void lockRTCCommand() { for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { @@ -275,6 +268,16 @@ class SceneModuleInterface StopReason getStopReason() const { return stop_reason_; } + void reset_factor() + { + steering_factor_interface_.reset(); + velocity_factor_interface_.reset(); + } + + auto get_steering_factor() const -> SteeringFactor { return steering_factor_interface_.get(); } + + auto get_velocity_factor() const -> VelocityFactor { return velocity_factor_interface_.get(); } + std::string name() const { return name_; } std::optional getStopPose() const @@ -561,6 +564,22 @@ class SceneModuleInterface } } + void setVelocityFactor(const PathWithLaneId & path) + { + if (stop_pose_.has_value()) { + velocity_factor_interface_.set( + path.points, getEgoPose(), stop_pose_.value(), VelocityFactor::APPROACHING, "stop"); + return; + } + + if (!slow_pose_.has_value()) { + return; + } + + velocity_factor_interface_.set( + path.points, getEgoPose(), slow_pose_.value(), VelocityFactor::APPROACHING, "slow down"); + } + void setStopReason(const std::string & stop_reason, const PathWithLaneId & path) { stop_reason_.reason = stop_reason; @@ -631,7 +650,9 @@ class SceneModuleInterface std::unordered_map> objects_of_interest_marker_interface_ptr_map_; - std::shared_ptr steering_factor_interface_ptr_; + mutable SteeringFactorInterface steering_factor_interface_; + + mutable VelocityFactorInterface velocity_factor_interface_; mutable std::optional stop_pose_{std::nullopt}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index 2020399531e7e..e199309dea8bb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -23,6 +23,8 @@ #include #include +#include +#include #include #include @@ -40,6 +42,8 @@ using autoware::motion_utils::createDeadLineVirtualWallMarker; using autoware::motion_utils::createSlowDownVirtualWallMarker; using autoware::motion_utils::createStopVirtualWallMarker; using autoware::universe_utils::toHexString; +using autoware_adapi_v1_msgs::msg::SteeringFactorArray; +using autoware_adapi_v1_msgs::msg::VelocityFactorArray; using unique_identifier_msgs::msg::UUID; using SceneModulePtr = std::shared_ptr; using SceneModuleObserver = std::weak_ptr; @@ -102,6 +106,46 @@ class SceneModuleManagerInterface } } + void publishSteeringFactor() + { + SteeringFactorArray steering_factor_array; + steering_factor_array.header.frame_id = "map"; + steering_factor_array.header.stamp = node_->now(); + + for (const auto & m : observers_) { + if (m.expired()) { + continue; + } + + const auto steering_factor = m.lock()->get_steering_factor(); + if (steering_factor.behavior != PlanningBehavior::UNKNOWN) { + steering_factor_array.factors.emplace_back(steering_factor); + } + } + + pub_steering_factors_->publish(steering_factor_array); + } + + void publishVelocityFactor() + { + VelocityFactorArray velocity_factor_array; + velocity_factor_array.header.frame_id = "map"; + velocity_factor_array.header.stamp = node_->now(); + + for (const auto & m : observers_) { + if (m.expired()) { + continue; + } + + const auto velocity_factor = m.lock()->get_velocity_factor(); + if (velocity_factor.behavior != PlanningBehavior::UNKNOWN) { + velocity_factor_array.factors.emplace_back(velocity_factor); + } + } + + pub_velocity_factors_->publish(velocity_factor_array); + } + void publishVirtualWall() const { using autoware::universe_utils::appendMarkerArray; @@ -262,14 +306,16 @@ class SceneModuleManagerInterface rclcpp::Publisher::SharedPtr pub_drivable_lanes_; + rclcpp::Publisher::SharedPtr pub_steering_factors_; + + rclcpp::Publisher::SharedPtr pub_velocity_factors_; + rclcpp::Publisher::SharedPtr pub_processing_time_; std::string name_; std::shared_ptr planner_data_; - std::shared_ptr steering_factor_interface_ptr_; - std::vector observers_; std::unique_ptr idle_module_ptr_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp deleted file mode 100644 index 385eb2a8ad0ae..0000000000000 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp +++ /dev/null @@ -1,55 +0,0 @@ -// Copyright 2022 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__STEERING_FACTOR_INTERFACE_HPP_ -#define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__STEERING_FACTOR_INTERFACE_HPP_ - -#include - -#include -#include - -#include -#include - -namespace steering_factor_interface -{ -using autoware_adapi_v1_msgs::msg::SteeringFactor; -using autoware_adapi_v1_msgs::msg::SteeringFactorArray; -using geometry_msgs::msg::Pose; - -class SteeringFactorInterface -{ -public: - SteeringFactorInterface(rclcpp::Node * node, const std::string & name); - void publishSteeringFactor(const rclcpp::Time & stamp); - void updateSteeringFactor( - const std::array & poses, const std::array distances, - const std::string & behavior, const uint16_t direction, const uint16_t status, - const std::string & detail); - void clearSteeringFactors(); - -private: - rclcpp::Logger getLogger() const; - - rclcpp::Publisher::SharedPtr pub_steering_factors_; - - std::mutex mutex_; - rclcpp::Logger logger_; - SteeringFactorArray registered_steering_factors_; -}; - -} // namespace steering_factor_interface - -#endif // AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__STEERING_FACTOR_INTERFACE_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp index f393ec18f8a32..23f0de6f5348f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp @@ -25,12 +25,30 @@ namespace autoware::behavior_path_planner::utils { using autoware::behavior_path_planner::drivable_area_expansion::DrivableAreaExpansionParameters; +/** + * @brief finds the index of the first lane in the provided vector that overlaps with a preceding + * lane (excluding the immediate predecessor in the vector) + * @param [ink] lanes vector of DrivableLanes + * @return the index of the first overlapping lane (if any) + */ std::optional getOverlappedLaneletId(const std::vector & lanes); +/** + * @brief modify a path to only keep points inside the given lanes (before any lane overlap) + * @details the path point lanelet_ids are used to determine if they are inside a lanelet + * @param [inout] path path to be cut + * @param [in] lanes lanes used to cut the path + * @return the shortened lanes without overlaps + */ std::vector cutOverlappedLanes( PathWithLaneId & path, const std::vector & lanes); -std::vector generateDrivableLanes(const lanelet::ConstLanelets & current_lanes); +/** + * @brief generate DrivableLanes objects from a sequence of lanelets + * @param [in] lanelets sequence of lanelets + * @return a vector of DrivableLanes constructed from the given lanelets + */ +std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanelets); std::vector generateDrivableLanesWithShoulderLanes( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes); @@ -38,12 +56,36 @@ std::vector generateDrivableLanesWithShoulderLanes( std::vector getNonOverlappingExpandedLanes( PathWithLaneId & path, const std::vector & lanes, const DrivableAreaExpansionParameters & parameters); + +/** + * @brief generate the drivable area of the given path + * @param [inout] path path whose center line is used to calculate the drivable area and whose + * left/right bound are generated + * @param [in] lanes lanes driven by the ego vehicle + * @param [in] enable_expanding_hatched_road_markings if true, expand the drivable area into hatched + * road markings + * @param [in] enable_expanding_intersection_areas if true, expand the drivable area into + * intersection areas + * @param [in] enable_expanding_freespace_areas if true, expand the drivable area into freespace + * areas + * @param [in] planner_data planner data with the route handler (and map), the parameters, the ego + * pose, etc + * @param [in] is_driving_forward true if the ego vehicle drives in the forward direction + */ void generateDrivableArea( PathWithLaneId & path, const std::vector & lanes, const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, const bool enable_expanding_freespace_areas, const std::shared_ptr planner_data, const bool is_driving_forward = true); +/** + * @brief generate the drivable area of the given path by applying the given offsets to its points + * @param [inout] path path whose center line is used to calculate the drivable area and whose + * left/right bound are generated + * @param [in] vehicle_length [m] length of the ego vehicle + * @param [in] offset [m] lateral offset between the path points and the drivable area + * @param [in] is_driving_forward true if the ego vehicle drives in the forward direction + */ void generateDrivableArea( PathWithLaneId & path, const double vehicle_length, const double offset, const bool is_driving_forward = true); @@ -72,6 +114,14 @@ std::vector getBoundWithHatchedRoadMarkings( const std::vector & original_bound, const std::shared_ptr & route_handler); +/** + * @brief Expand the given bound to include intersection areas from the map + * @param [in] original_bound original bound to expand + * @param [in] drivable_lanes lanelets to consider + * @param [in] route_handler route handler with the map information + * @param [in] is_left whether the bound to calculate is on the left or not + * @return the bound including intersection areas + */ std::vector getBoundWithIntersectionAreas( const std::vector & original_bound, const std::shared_ptr & route_handler, @@ -90,6 +140,12 @@ std::vector postProcess( const std::vector & drivable_lanes, const bool is_left, const bool is_driving_forward = true); +/** + * @brief combine two drivable area info objects + * @param [in] drivable_area_Info1 first drivable area info + * @param [in] drivable_area_Info2 second drivable area info + * @return the combined drivable area info + */ DrivableAreaInfo combineDrivableAreaInfo( const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp index a3e77d5e1d24f..ab62c369c41e4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp @@ -76,9 +76,22 @@ Polygon2d createExtendedPolygon( const PoseWithVelocityAndPolygonStamped & obj_pose_with_poly, const double lon_length, const double lat_margin, const bool is_stopped_obj, CollisionCheckDebug & debug); +/** + * @brief Converts path (path with velocity stamped) to predicted path. + * @param path Path. + * @param time_resolution Time resolution. + * @return Predicted path. + */ PredictedPath convertToPredictedPath( const std::vector & path, const double time_resolution); +/** + * @brief Calculates RSS related distance. + * @param front_object_velocity Velocity of front object. + * @param rear_object_velocity Velocity of rear object. + * @param rss_params RSS parameters. + * @return Longitudinal distance. + */ double calcRssDistance( const double front_object_velocity, const double rear_object_velocity, const RSSparams & rss_params); @@ -128,6 +141,29 @@ ExtendedPredictedObjects filterObjectPredictedPathByTimeHorizon( const ExtendedPredictedObjects & objects, const double time_horizon, const bool check_all_predicted_path); +/** + * @brief Filters the path by obtaining points after target pose. + * @param path Path to filter. + * @param target_pose Target pose. + * @return Filtered path. + */ +std::vector filterPredictedPathAfterTargetPose( + const std::vector & path, const Pose & target_pose); + +/** + * @brief Iterate the points in the ego and target's predicted path and + * perform safety check for each of the iterated points using RSS parameters + * @param planned_path The planned path of the ego vehicle. + * @param ego_predicted_path Ego vehicle's predicted path + * @param objects Detected objects. + * @param debug_map Map for collision check debug. + * @param parameters The common parameters used in behavior path planner. + * @param rss_params The parameters used in RSSs + * @param check_all_predicted_path If true, uses all predicted path + * @param hysteresis_factor Hysteresis factor + * @param yaw_difference_th Threshold for yaw difference + * @return True if planned path is safe. + */ bool checkSafetyWithRSS( const PathWithLaneId & planned_path, const std::vector & ego_predicted_path, @@ -141,16 +177,14 @@ bool checkSafetyWithRSS( * perform safety check for each of the iterated points. * @param planned_path The predicted path of the ego vehicle. * @param predicted_ego_path Ego vehicle's predicted path - * @param ego_current_velocity Current velocity of the ego vehicle. * @param target_object The predicted object to check collision with. * @param target_object_path The predicted path of the target object. - * @param common_parameters The common parameters used in behavior path planner. - * @param front_object_deceleration The deceleration of the object in the front.(used in RSS) - * @param rear_object_deceleration The deceleration of the object in the rear.(used in RSS) - * @param yaw_difference_th maximum yaw difference between any given ego path pose and object - * predicted path pose. + * @param common_parameters Common parameters used for behavior path planning. + * @param rss_parameters The parameters used in RSS. + * @param hysteresis_factor Hysteresis factor. + * @param yaw_difference_th Threshold of yaw difference. * @param debug The debug information for collision checking. - * @return true if distance is safe. + * @return True if there is no collision. */ bool checkCollision( const PathWithLaneId & planned_path, @@ -163,16 +197,17 @@ bool checkCollision( /** * @brief Iterate the points in the ego and target's predicted path and * perform safety check for each of the iterated points. - * @param planned_path The predicted path of the ego vehicle. + * @param planned_path The planned path of the ego vehicle. * @param predicted_ego_path Ego vehicle's predicted path - * @param ego_current_velocity Current velocity of the ego vehicle. * @param target_object The predicted object to check collision with. * @param target_object_path The predicted path of the target object. - * @param common_parameters The common parameters used in behavior path planner. - * @param front_object_deceleration The deceleration of the object in the front.(used in RSS) - * @param rear_object_deceleration The deceleration of the object in the rear.(used in RSS) + * @param vehicle_info Ego vehicle information. + * @param rss_parameters The parameters used in RSS. + * @param hysteresis_factor Hysteresis factor. + * @param max_velocity_limit Maximum velocity of ego vehicle. + * @param yaw_difference_th Threshold of yaw difference. * @param debug The debug information for collision checking. - * @return a list of polygon when collision is expected. + * @return List of polygon which collision is expected. */ std::vector get_collided_polygons( const PathWithLaneId & planned_path, @@ -184,6 +219,17 @@ std::vector get_collided_polygons( bool checkPolygonsIntersects( const std::vector & polys_1, const std::vector & polys_2); + +/** + * @brief Checks for safety using integral predicted polygons. + * @param ego_predicted_path The predicted path of ego vehicle. + * @param vehicle_info Information (parameters) about ego vehicle. + * @param objects Surrounding objects. + * @param check_all_predicted_path Whether to check all predicted paths of objects. + * @param params Parameters for integral predicted polygon. + * @param debug_map Map to store debug information. + * @return True if the ego vehicle's path is safe, and false otherwise. + */ bool checkSafetyWithIntegralPredictedPolygon( const std::vector & ego_predicted_path, const VehicleInfo & vehicle_info, const ExtendedPredictedObjects & objects, const bool check_all_predicted_path, diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index dea42c692b880..5b925bd5ffd8e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -54,6 +54,7 @@ autoware_planning_msgs autoware_route_handler autoware_rtc_interface + autoware_traffic_light_utils autoware_universe_utils autoware_vehicle_info_utils geometry_msgs @@ -61,7 +62,6 @@ rclcpp tf2 tier4_planning_msgs - traffic_light_utils visualization_msgs ament_cmake_ros diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp index 535e5cff43e33..7b362d9a8bafa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp @@ -57,12 +57,10 @@ void SceneModuleManagerInterface::initInterface( pub_drivable_lanes_ = node->create_publisher("~/drivable_lanes/" + name_, 20); pub_processing_time_ = node->create_publisher( "~/processing_time/" + name_, 20); - } - - // init steering factor - { - steering_factor_interface_ptr_ = - std::make_shared(node, utils::convertToSnakeCase(name_)); + pub_steering_factors_ = + node->create_publisher("/planning/steering_factor/" + name_, 1); + pub_velocity_factors_ = + node->create_publisher("/planning/velocity_factors/" + name_, 1); } // misc diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp deleted file mode 100644 index daebfa31be311..0000000000000 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp +++ /dev/null @@ -1,63 +0,0 @@ -// Copyright 2022 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp" - -namespace steering_factor_interface -{ -SteeringFactorInterface::SteeringFactorInterface(rclcpp::Node * node, const std::string & name) -: logger_{node->get_logger().get_child("PlanningAPI[" + name + "]")} -{ - // Publisher - pub_steering_factors_ = - node->create_publisher("/planning/steering_factor/" + name, 1); -} - -void SteeringFactorInterface::publishSteeringFactor(const rclcpp::Time & stamp) -{ - std::lock_guard lock(mutex_); - registered_steering_factors_.header.stamp = stamp; - pub_steering_factors_->publish(registered_steering_factors_); -} - -void SteeringFactorInterface::updateSteeringFactor( - const std::array & pose, const std::array distance, - const std::string & behavior, const uint16_t direction, const uint16_t status, - const std::string & detail) -{ - std::lock_guard lock(mutex_); - SteeringFactor factor; - factor.pose = pose; - std::array converted_distance{0.0, 0.0}; - for (int i = 0; i < 2; ++i) converted_distance[i] = static_cast(distance[i]); - factor.distance = converted_distance; - factor.behavior = behavior; - factor.direction = direction; - factor.status = status; - factor.detail = detail; - registered_steering_factors_.factors = {factor}; -} - -void SteeringFactorInterface::clearSteeringFactors() -{ - std::lock_guard lock(mutex_); - registered_steering_factors_.factors.clear(); -} - -rclcpp::Logger SteeringFactorInterface::getLogger() const -{ - return logger_; -} - -} // namespace steering_factor_interface diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp index 9c35032e51063..1c6295f3e70ef 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -626,8 +626,6 @@ std::vector updateBoundary( namespace autoware::behavior_path_planner::utils { -using autoware::universe_utils::Point2d; - std::optional getOverlappedLaneletId(const std::vector & lanes) { auto overlaps = [](const DrivableLanes & lanes, const DrivableLanes & target_lanes) { @@ -731,10 +729,13 @@ std::vector cutOverlappedLanes( } // Step2. pick up only path points within drivable lanes + std::set path_point_indices; for (const auto & drivable_lanes : shorten_lanes) { for (size_t i = start_point_idx; i < original_points.size(); ++i) { - if (is_point_in_drivable_lanes(drivable_lanes, original_points.at(i))) { - path.points.push_back(original_points.at(i)); + const auto & p = original_points.at(i); + if (is_point_in_drivable_lanes(drivable_lanes, p) && path_point_indices.count(i) == 0) { + path.points.push_back(p); + path_point_indices.insert(i); continue; } start_point_idx = i; @@ -745,12 +746,12 @@ std::vector cutOverlappedLanes( return shorten_lanes; } -std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanes) +std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanelets) { - std::vector drivable_lanes(lanes.size()); - for (size_t i = 0; i < lanes.size(); ++i) { - drivable_lanes.at(i).left_lane = lanes.at(i); - drivable_lanes.at(i).right_lane = lanes.at(i); + std::vector drivable_lanes(lanelets.size()); + for (size_t i = 0; i < lanelets.size(); ++i) { + drivable_lanes.at(i).left_lane = lanelets.at(i); + drivable_lanes.at(i).right_lane = lanelets.at(i); } return drivable_lanes; } @@ -856,6 +857,9 @@ void generateDrivableArea( } } } + if (resampled_path.points.empty()) { + return; + } // add last point of path if enough far from the one of resampled path constexpr double th_last_point_distance = 0.3; if ( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index a7ed94c0768c3..04b61b86dfa02 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -470,6 +470,22 @@ ExtendedPredictedObjects filterObjectPredictedPathByTimeHorizon( return filtered_objects; } +std::vector filterPredictedPathAfterTargetPose( + const std::vector & path, const Pose & target_pose) +{ + std::vector filtered_path; + + const auto target_idx = + std::min_element(path.begin(), path.end(), [&target_pose](const auto & a, const auto & b) { + return calcDistance2d(a.pose.position, target_pose.position) < + calcDistance2d(b.pose.position, target_pose.position); + }); + + std::copy(target_idx, path.end(), std::back_inserter(filtered_path)); + + return filtered_path; +}; + bool checkSafetyWithRSS( const PathWithLaneId & planned_path, const std::vector & ego_predicted_path, @@ -606,13 +622,15 @@ std::vector get_collided_polygons( // check intersects if (boost::geometry::intersects(ego_polygon, obj_polygon)) { - debug.unsafe_reason = "overlap_polygon"; + if (collided_polygons.empty()) { + debug.unsafe_reason = "overlap_polygon"; + debug.expected_ego_pose = ego_pose; + debug.expected_obj_pose = obj_pose; + debug.extended_ego_polygon = ego_polygon; + debug.extended_obj_polygon = obj_polygon; + } collided_polygons.push_back(obj_polygon); - debug.expected_ego_pose = ego_pose; - debug.expected_obj_pose = obj_pose; - debug.extended_ego_polygon = ego_polygon; - debug.extended_obj_polygon = obj_polygon; continue; } @@ -660,14 +678,17 @@ std::vector get_collided_polygons( // check intersects with extended polygon if (boost::geometry::intersects(extended_ego_polygon, extended_obj_polygon)) { - debug.unsafe_reason = "overlap_extended_polygon"; + if (collided_polygons.empty()) { + debug.unsafe_reason = "overlap_extended_polygon"; + debug.rss_longitudinal = rss_dist; + debug.inter_vehicle_distance = min_lon_length; + debug.expected_ego_pose = ego_pose; + debug.expected_obj_pose = obj_pose; + debug.extended_ego_polygon = extended_ego_polygon; + debug.extended_obj_polygon = extended_obj_polygon; + debug.is_front = is_object_front; + } collided_polygons.push_back(obj_polygon); - - debug.rss_longitudinal = rss_dist; - debug.inter_vehicle_distance = min_lon_length; - debug.extended_ego_polygon = extended_ego_polygon; - debug.extended_obj_polygon = extended_obj_polygon; - debug.is_front = is_object_front; } } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp index d6f56f9c90168..1e2ad668bf28f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp @@ -329,6 +329,8 @@ std::vector spline_two_points( std::vector interpolatePose( const Pose & start_pose, const Pose & end_pose, const double resample_interval) { + using autoware::universe_utils::calcAzimuthAngle; + std::vector interpolated_poses{}; // output const double distance = @@ -351,14 +353,21 @@ std::vector interpolatePose( std::sin(tf2::getYaw(end_pose.orientation)), new_s); for (size_t i = 0; i < interpolated_x.size(); ++i) { Pose pose{}; - pose = autoware::universe_utils::calcInterpolatedPose( - end_pose, start_pose, (distance - new_s.at(i)) / distance); pose.position.x = interpolated_x.at(i); pose.position.y = interpolated_y.at(i); pose.position.z = end_pose.position.z; interpolated_poses.push_back(pose); } + // insert orientation + for (size_t i = 0; i < interpolated_poses.size(); ++i) { + const double yaw = calcAzimuthAngle( + interpolated_poses.at(i).position, i < interpolated_poses.size() - 1 + ? interpolated_poses.at(i + 1).position + : end_pose.position); + interpolated_poses.at(i).orientation = autoware::universe_utils::createQuaternionFromYaw(yaw); + } + return interpolated_poses; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp index 14332d953819e..19c9bbcf365a3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp @@ -14,7 +14,7 @@ #include #include -#include +#include namespace autoware::behavior_path_planner::utils::traffic_light { @@ -91,7 +91,7 @@ std::optional calcDistanceToRedTrafficLight( continue; } - if (!traffic_light_utils::isTrafficSignalStop( + if (!autoware::traffic_light_utils::isTrafficSignalStop( lanelet, traffic_signal_stamped.value().signal)) { continue; } @@ -143,7 +143,7 @@ bool isTrafficSignalStop( continue; } - if (traffic_light_utils::isTrafficSignalStop( + if (autoware::traffic_light_utils::isTrafficSignalStop( lanelet, traffic_signal_stamped.value().signal)) { return true; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp index 0d36b2c3fa377..c5694db10f65e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp @@ -12,7 +12,6 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/behavior_path_planner_common/parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp" @@ -22,6 +21,7 @@ #include #include +#include #include #include @@ -29,15 +29,21 @@ #include +#include +#include #include #include constexpr double epsilon = 1e-6; using autoware::behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug; +using autoware::behavior_path_planner::utils::path_safety_checker::CollisionCheckDebugMap; +using autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject; using autoware::behavior_path_planner::utils::path_safety_checker:: PoseWithVelocityAndPolygonStamped; using autoware::behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped; +using autoware::behavior_path_planner::utils::path_safety_checker::PredictedPathWithPolygon; +using autoware::behavior_path_planner::utils::path_safety_checker::RSSparams; using autoware::test_utils::createPose; using autoware::test_utils::generateTrajectory; using autoware::universe_utils::Polygon2d; @@ -45,7 +51,7 @@ using autoware_perception_msgs::msg::Shape; using geometry_msgs::msg::Pose; using tier4_planning_msgs::msg::PathWithLaneId; -std::vector createTestPath() +std::vector create_test_path() { std::vector path; path.emplace_back(0.0, createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 1.0); @@ -54,6 +60,69 @@ std::vector createTestPath() return path; } +RSSparams create_rss_parameters( + double longitudinal_velocity_delta_time = 2.0, double rear_vehicle_reaction_time = 1.0, + double rear_vehicle_safety_time_margin = 1.0, double longitudinal_distance_min_threshold = 3.0, + double rear_vehicle_deceleration = -1.0, double front_vehicle_deceleration = -2.0) +{ + RSSparams params; + params.longitudinal_velocity_delta_time = longitudinal_velocity_delta_time; + params.rear_vehicle_reaction_time = rear_vehicle_reaction_time; + params.rear_vehicle_safety_time_margin = rear_vehicle_safety_time_margin; + params.longitudinal_distance_min_threshold = longitudinal_distance_min_threshold; + params.rear_vehicle_deceleration = rear_vehicle_deceleration; + params.front_vehicle_deceleration = front_vehicle_deceleration; + params.extended_polygon_policy = "rectangle"; + + return params; +} + +std::vector create_path_with_velocity_and_polygon( + const Pose initial_pose, const Shape & shape, size_t point_num, double interval, double velocity) +{ + std::vector predicted_path; + predicted_path.reserve(point_num); + Pose pose = initial_pose; + + for (size_t i = 0; i < point_num; i++) { + double time = static_cast(i) * interval; + pose.position.x = initial_pose.position.x + time * velocity; + PoseWithVelocityAndPolygonStamped obj_pose_with_poly( + time, pose, velocity, autoware::universe_utils::toPolygon2d(pose, shape)); + predicted_path.push_back(obj_pose_with_poly); + } + + return predicted_path; +} + +PredictedPathWithPolygon create_predicted_path_with_polygon(Pose pose, float confidence) +{ + PredictedPathWithPolygon path; + Shape shape; + shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + shape.dimensions.x = 1.0; + shape.dimensions.y = 1.0; + path.path = create_path_with_velocity_and_polygon(pose, shape, 10, 1.0, 1.0); + path.confidence = confidence; + + return path; +} + +ExtendedPredictedObject create_extended_predicted_object(Pose pose, float confidence) +{ + ExtendedPredictedObject object; + Shape shape; + shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + shape.dimensions.x = 1.0; + shape.dimensions.y = 1.0; + object.initial_pose = pose; + object.shape = shape; + object.initial_polygon = autoware::universe_utils::toPolygon2d(pose, shape); + object.predicted_paths.push_back(create_predicted_path_with_polygon(pose, confidence)); + + return object; +} + TEST(BehaviorPathPlanningSafetyUtilsTest, isTargetObjectOncoming) { using autoware::behavior_path_planner::utils::path_safety_checker::isTargetObjectOncoming; @@ -228,9 +297,6 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedObjPolygon) CollisionCheckDebug debug; - using autoware::behavior_path_planner::utils::path_safety_checker:: - PoseWithVelocityAndPolygonStamped; - PoseWithVelocityAndPolygonStamped obj_pose_with_poly( 0.0, obj_pose, 0.0, autoware::universe_utils::toPolygon2d(obj_pose, shape)); const auto polygon = @@ -253,22 +319,26 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedObjPolygon) } } +TEST(BehaviorPathPlanningSafetyUtilsTest, convertToPredictedPath) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::convertToPredictedPath; + + auto path = create_test_path(); + double time_resolution = 1.0; + auto predicted_path = convertToPredictedPath(path, time_resolution); + EXPECT_EQ(predicted_path.path.size(), 3); + EXPECT_DOUBLE_EQ(predicted_path.time_step.sec, 1.0); + EXPECT_DOUBLE_EQ(predicted_path.time_step.nanosec, 0.0); +} + TEST(BehaviorPathPlanningSafetyUtilsTest, calcRssDistance) { using autoware::behavior_path_planner::utils::path_safety_checker::calcRssDistance; - using autoware::behavior_path_planner::utils::path_safety_checker::RSSparams; { const double front_vel = 5.0; - const double front_decel = -2.0; const double rear_vel = 10.0; - const double rear_decel = -1.0; - RSSparams params; - params.rear_vehicle_reaction_time = 1.0; - params.rear_vehicle_safety_time_margin = 1.0; - params.longitudinal_distance_min_threshold = 3.0; - params.rear_vehicle_deceleration = rear_decel; - params.front_vehicle_deceleration = front_decel; + auto params = create_rss_parameters(); EXPECT_NEAR(calcRssDistance(front_vel, rear_vel, params), 63.75, epsilon); } @@ -281,9 +351,8 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, calc_minimum_longitudinal_length) double front_object_velocity = 10.0; double rear_object_velocity = 5.0; - autoware::behavior_path_planner::utils::path_safety_checker::RSSparams param; + auto param = create_rss_parameters(); param.longitudinal_distance_min_threshold = 4.0; - param.longitudinal_velocity_delta_time = 2.0; // Condition: front is faster than rear object EXPECT_DOUBLE_EQ( @@ -295,7 +364,7 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, calc_minimum_longitudinal_length) // Basic interpolation test TEST(CalcInterpolatedPoseWithVelocityTest, BasicInterpolation) { - auto path = createTestPath(); + auto path = create_test_path(); auto result = calc_interpolated_pose_with_velocity(path, 0.5); ASSERT_TRUE(result.has_value()); @@ -307,7 +376,7 @@ TEST(CalcInterpolatedPoseWithVelocityTest, BasicInterpolation) // Boundary conditions test TEST(CalcInterpolatedPoseWithVelocityTest, BoundaryConditions) { - auto path = createTestPath(); + auto path = create_test_path(); // First point of the path auto start_result = calc_interpolated_pose_with_velocity(path, 0.0); @@ -330,7 +399,7 @@ TEST(CalcInterpolatedPoseWithVelocityTest, InvalidInput) using autoware::behavior_path_planner::utils::path_safety_checker:: calc_interpolated_pose_with_velocity; - auto path = createTestPath(); + auto path = create_test_path(); // Empty path EXPECT_FALSE(calc_interpolated_pose_with_velocity({}, 1.0).has_value()); @@ -372,13 +441,11 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, get_interpolated_pose_with_velocity_an get_interpolated_pose_with_velocity_and_polygon_stamped; std::vector pred_path; - std::vector pred_path_with_polygon; double current_time = 0.5; autoware::vehicle_info_utils::VehicleInfo vehicle_info{}; vehicle_info.max_longitudinal_offset_m = 1.0; vehicle_info.rear_overhang_m = 1.0; vehicle_info.vehicle_width_m = 2.0; - Shape shape; // Condition: empty path EXPECT_FALSE( @@ -386,12 +453,164 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, get_interpolated_pose_with_velocity_an .has_value()); // Condition: with path - pred_path = createTestPath(); + pred_path = create_test_path(); auto interpolation_result = get_interpolated_pose_with_velocity_and_polygon_stamped(pred_path, current_time, vehicle_info); EXPECT_TRUE(interpolation_result.has_value()); } +TEST(BehaviorPathPlanningSafetyUtilsTest, filterPredictedPathAfterTargetPose) +{ + using autoware::behavior_path_planner::utils::path_safety_checker:: + filterPredictedPathAfterTargetPose; + + auto path = create_test_path(); + Pose pose = createPose(1.0, 0.0, 0.0, 0.0, 0.0, 0.0); + auto filtered_path = filterPredictedPathAfterTargetPose(path, pose); + EXPECT_EQ(filtered_path.size(), 2); + double x_target = 1.0; + for (const auto & pose_with_velocity : filtered_path) { + EXPECT_DOUBLE_EQ(pose_with_velocity.pose.position.x, x_target); + x_target += 1.0; + } +} + +TEST(BehaviorPathPlanningSafetyUtilsTest, checkSafetyWithRSS) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::checkSafetyWithRSS; + + auto planned_path = generateTrajectory(3, 1.0); + auto ego_predicted_path = create_test_path(); + autoware::vehicle_info_utils::VehicleInfo vehicle_info{}; + vehicle_info.max_longitudinal_offset_m = 1.0; + vehicle_info.rear_overhang_m = 1.0; + vehicle_info.vehicle_width_m = 2.0; + std::vector objects; + objects.push_back( + create_extended_predicted_object(createPose(10.0, 8.0, 0.0, 0.0, 0.0, 0.0), 0.5)); + objects.push_back( + create_extended_predicted_object(createPose(0.0, 1.0, 0.0, 0.0, 0.0, 0.0), 0.6)); + CollisionCheckDebugMap debug_map; + BehaviorPathPlannerParameters parameters; + parameters.vehicle_info = vehicle_info; + auto rss_params = create_rss_parameters(); + double hysteresis_factor = 1.0; + const double yaw_difference_th = M_PI_2; + + EXPECT_FALSE(checkSafetyWithRSS( + planned_path, ego_predicted_path, objects, debug_map, parameters, rss_params, true, + hysteresis_factor, yaw_difference_th)); + objects.pop_back(); + EXPECT_TRUE(checkSafetyWithRSS( + planned_path, ego_predicted_path, objects, debug_map, parameters, rss_params, true, + hysteresis_factor, yaw_difference_th)); +} + +TEST(BehaviorPathPlanningSafetyUtilsTest, checkSafetyWithIntegralPredictedPolygon) +{ + using autoware::behavior_path_planner::utils::path_safety_checker:: + checkSafetyWithIntegralPredictedPolygon; + + auto ego_predicted_path = create_test_path(); + autoware::vehicle_info_utils::VehicleInfo vehicle_info{}; + vehicle_info.max_longitudinal_offset_m = 1.0; + vehicle_info.rear_overhang_m = 1.0; + vehicle_info.vehicle_width_m = 2.0; + autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObjects objects; + objects.push_back( + create_extended_predicted_object(createPose(10.0, 8.0, 0.0, 0.0, 0.0, 0.0), 0.5)); + objects.push_back( + create_extended_predicted_object(createPose(0.0, 1.0, 0.0, 0.0, 0.0, 0.0), 0.6)); + + autoware::behavior_path_planner::utils::path_safety_checker::IntegralPredictedPolygonParams + params{1.0, 1.0, 1.0, 2.0}; + CollisionCheckDebugMap debug_map; + + EXPECT_FALSE(checkSafetyWithIntegralPredictedPolygon( + ego_predicted_path, vehicle_info, objects, true, params, debug_map)); + + objects.pop_back(); + EXPECT_TRUE(checkSafetyWithIntegralPredictedPolygon( + ego_predicted_path, vehicle_info, objects, true, params, debug_map)); +} + +TEST(BehaviorPathPlanningSafetyUtilsTest, checkCollision) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::checkCollision; + using autoware::behavior_path_planner::utils::path_safety_checker::get_collided_polygons; + + auto planned_path = autoware::test_utils::generateTrajectory(3, 1.0); + auto predicted_ego_path = create_test_path(); + + ExtendedPredictedObject target_object; + target_object.initial_pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + Shape shape; + shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + shape.dimensions.x = 2.0; + shape.dimensions.y = 2.0; + auto object_path = + create_predicted_path_with_polygon(createPose(0.0, 1.0, 0.0, 0.0, 0.0, 0.0), 1.0); + + autoware::vehicle_info_utils::VehicleInfo vehicle_info; + vehicle_info.max_longitudinal_offset_m = 4.0; + vehicle_info.vehicle_width_m = 2.0; + vehicle_info.rear_overhang_m = 1.0; + BehaviorPathPlannerParameters common_parameters; + common_parameters.vehicle_info = vehicle_info; + + auto rss_parameters = create_rss_parameters(); + double hysteresis_factor = 1.0; + double max_velocity_limit = 10.0; + const double yaw_difference_th = M_PI_2; + CollisionCheckDebug debug; + + { + EXPECT_FALSE(checkCollision( + planned_path, predicted_ego_path, target_object, object_path, common_parameters, + rss_parameters, hysteresis_factor, yaw_difference_th, debug)); + auto collide_polygon = get_collided_polygons( + planned_path, predicted_ego_path, target_object, object_path, vehicle_info, rss_parameters, + hysteresis_factor, max_velocity_limit, yaw_difference_th, debug); + EXPECT_EQ(collide_polygon.size(), 3); + } + { + target_object.initial_pose = createPose(0.0, 4.0, 0.0, 0.0, 0.0, 0.0); + object_path = create_predicted_path_with_polygon(createPose(0.0, 4.0, 0.0, 0.0, 0.0, 0.0), 1.0); + auto collide_polygon = get_collided_polygons( + planned_path, predicted_ego_path, target_object, object_path, vehicle_info, rss_parameters, + hysteresis_factor, max_velocity_limit, yaw_difference_th, debug); + EXPECT_TRUE(checkCollision( + planned_path, predicted_ego_path, target_object, object_path, common_parameters, + rss_parameters, hysteresis_factor, yaw_difference_th, debug)); + EXPECT_TRUE(collide_polygon.empty()); + } + { + target_object.initial_pose = createPose(10.0, 4.0, 0.0, 0.0, 0.0, 0.0); + object_path = + create_predicted_path_with_polygon(createPose(10.0, 4.0, 0.0, 0.0, 0.0, 0.0), 1.0); + EXPECT_TRUE(checkCollision( + planned_path, predicted_ego_path, target_object, object_path, common_parameters, + rss_parameters, hysteresis_factor, yaw_difference_th, debug)); + auto collide_polygon = get_collided_polygons( + planned_path, predicted_ego_path, target_object, object_path, vehicle_info, rss_parameters, + hysteresis_factor, max_velocity_limit, yaw_difference_th, debug); + EXPECT_TRUE(collide_polygon.empty()); + } + { + rss_parameters.extended_polygon_policy = "along_path"; + target_object.initial_pose = createPose(10.0, 4.0, 0.0, 0.0, 0.0, 0.0); + object_path = + create_predicted_path_with_polygon(createPose(10.0, 4.0, 0.0, 0.0, 0.0, 0.0), 1.0); + EXPECT_TRUE(checkCollision( + planned_path, predicted_ego_path, target_object, object_path, common_parameters, + rss_parameters, hysteresis_factor, yaw_difference_th, debug)); + auto collide_polygon = get_collided_polygons( + planned_path, predicted_ego_path, target_object, object_path, vehicle_info, rss_parameters, + hysteresis_factor, max_velocity_limit, yaw_difference_th, debug); + EXPECT_TRUE(collide_polygon.empty()); + } +} + TEST(BehaviorPathPlanningSafetyUtilsTest, checkPolygonsIntersects) { using autoware::behavior_path_planner::utils::path_safety_checker::checkPolygonsIntersects; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp new file mode 100644 index 0000000000000..ba3141a89b26a --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp @@ -0,0 +1,528 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_planner_common/data_manager.hpp" +#include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" + +#include +#include + +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +const auto intersection_map = + autoware::test_utils::make_map_bin_msg(autoware::test_utils::get_absolute_path_to_lanelet_map( + "autoware_test_utils", "intersection/lanelet2_map.osm")); + +using autoware::behavior_path_planner::DrivableLanes; +using autoware::test_utils::make_lanelet; + +DrivableLanes make_drivable_lanes(const lanelet::ConstLanelet & ll) +{ + using autoware::behavior_path_planner::utils::generateDrivableLanes; + return generateDrivableLanes({ll}).front(); +} + +bool equal(const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2) +{ + return p1.x == p2.x && p1.y == p2.y && p1.z == p2.z; +} + +bool equal(const DrivableLanes & l1, const DrivableLanes & l2) +{ + if (l1.middle_lanes.size() != l2.middle_lanes.size()) { + return false; + } + auto are_equal = true; + are_equal &= boost::geometry::equals( + l1.left_lane.polygon2d().basicPolygon(), l2.left_lane.polygon2d().basicPolygon()); + are_equal &= boost::geometry::equals( + l1.right_lane.polygon2d().basicPolygon(), l2.right_lane.polygon2d().basicPolygon()); + for (auto i = 0UL; i < l1.middle_lanes.size(); ++i) { + are_equal &= boost::geometry::equals( + l1.middle_lanes[i].polygon2d().basicPolygon(), l2.middle_lanes[i].polygon2d().basicPolygon()); + } + return are_equal; +} + +TEST(StaticDrivableArea, getOverlappedLaneletId) +{ + using autoware::behavior_path_planner::utils::getOverlappedLaneletId; + + std::vector lanes; + { // empty lanes + const auto result = getOverlappedLaneletId(lanes); + EXPECT_FALSE(result.has_value()); + } + { // lanes at 0 + const DrivableLanes l = + make_drivable_lanes(make_lanelet({0.0, 1.0}, {5.0, 1.0}, {5.0, -1.0}, {5.0, -1.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + EXPECT_FALSE(result.has_value()); + } + { // lanes at 1, overlap with 0 but ignored since it is the following lane + const DrivableLanes l = + make_drivable_lanes(make_lanelet({4.0, 1.0}, {8.0, 1.0}, {4.0, -1.0}, {8.0, -1.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + EXPECT_FALSE(result.has_value()); + } + { // lanes at 2, overlap with 1 but ignored since it is the following lane + const DrivableLanes l = + make_drivable_lanes(make_lanelet({6.0, 1.0}, {10.0, 1.0}, {6.0, -1.0}, {10.0, -1.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + EXPECT_FALSE(result.has_value()); + } + { // lanes at 3, overlap with 1 so 3 is returned + const DrivableLanes l = + make_drivable_lanes(make_lanelet({5.0, 0.0}, {5.0, 5.0}, {6.0, 0.0}, {6.0, 5.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(*result, 3UL); + } + { // lanes at 4, overlap with 2 but since 3 overlaps first it is still returned + const DrivableLanes l = + make_drivable_lanes(make_lanelet({7.0, 0.0}, {7.0, 5.0}, {8.0, 0.0}, {8.0, 5.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(*result, 3UL); + } + { // change 1 to no longer overlap with 3 and now 4 is the first overlap + const DrivableLanes l = make_drivable_lanes( + make_lanelet({100.0, 110.0}, {110.0, 100.0}, {100.0, 90.0}, {100.0, 90.0})); + lanes[1] = l; + const auto result = getOverlappedLaneletId(lanes); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(*result, 4UL); + } +} + +TEST(StaticDrivableArea, cutOverlappedLanes) +{ + using autoware::behavior_path_planner::utils::cutOverlappedLanes; + tier4_planning_msgs::msg::PathWithLaneId path; + std::vector lanes; + { // empty inputs + const auto result = cutOverlappedLanes(path, lanes); + EXPECT_TRUE(result.empty()); + EXPECT_TRUE(path.points.empty()); + } + constexpr auto path_size = 10UL; + const auto reset_path = [&]() { + path.points.clear(); + for (auto i = 0UL; i < path_size; ++i) { + path.points.emplace_back(); + path.points.back().point.pose.position.x = static_cast(i) * 1.0; + path.points.back().point.pose.position.y = 0.0; + } + }; + { // add some path points + reset_path(); + const auto result = cutOverlappedLanes(path, lanes); + EXPECT_TRUE(result.empty()); + ASSERT_EQ(path.points.size(), path_size); + for (auto i = 0UL; i < path_size; ++i) { + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.x, i * 1.0); + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.y, 0.0); + } + } + { // add some drivable lanes without any overlap (no overlap -> path is not modified) + reset_path(); + lanes.push_back( + make_drivable_lanes(make_lanelet({0.0, 1.0}, {2.0, 1.0}, {0.0, -1.0}, {2.0, -1.0}))); + const auto result = cutOverlappedLanes(path, lanes); + ASSERT_EQ(result.size(), lanes.size()); + EXPECT_TRUE(equal(result.front(), lanes.front())); + ASSERT_EQ(path.points.size(), path_size); + for (auto i = 0UL; i < path_size; ++i) { + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.x, i * 1.0); + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.y, 0.0); + } + } + { // add more drivable lanes without an overlap (no overlap -> path is not modified) + reset_path(); + lanes.push_back( + make_drivable_lanes(make_lanelet({2.0, 1.0}, {4.0, 1.0}, {2.0, -1.0}, {4.0, -1.0}))); + lanes.push_back( + make_drivable_lanes(make_lanelet({4.0, 1.0}, {6.0, 1.0}, {4.0, -1.0}, {6.0, -1.0}))); + const auto result = cutOverlappedLanes(path, lanes); + ASSERT_EQ(result.size(), lanes.size()); + for (auto i = 0UL; i < result.size(); ++i) { + EXPECT_TRUE(equal(result[i], lanes[i])); + } + ASSERT_EQ(path.points.size(), path_size); + for (auto i = 0UL; i < path_size; ++i) { + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.x, i * 1.0); + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.y, 0.0); + } + } + { // add an overlapping lane + reset_path(); + lanes.push_back( + make_drivable_lanes(make_lanelet({2.5, -1.0}, {2.5, 1.0}, {3.5, -1.0}, {3.5, 1.0}))); + const auto result = cutOverlappedLanes(path, lanes); + // the last lane is cut + ASSERT_EQ(result.size() + 1, lanes.size()); + for (auto i = 0UL; i < result.size(); ++i) { + EXPECT_TRUE(equal(result[i], lanes[i])); + } + // since the path points do not have ids, all points are cut + EXPECT_TRUE(path.points.empty()); + } + { // add the overlapping lane id to the path points + reset_path(); + for (auto & p : path.points) { + p.lane_ids.push_back(lanes.back().left_lane.id()); + } + cutOverlappedLanes(path, lanes); + // since the overlapped lane was removed, the path points were still cut + EXPECT_TRUE(path.points.empty()); + } + { // add the first lane id to some path points, only these points will be kept + reset_path(); + constexpr auto filtered_start = 3UL; + constexpr auto filtered_size = 5UL; + for (auto i = filtered_start; i < filtered_start + filtered_size; ++i) { + path.points[i].lane_ids.push_back(lanes.front().left_lane.id()); + } + cutOverlappedLanes(path, lanes); + ASSERT_EQ(path.points.size(), filtered_size); + for (auto i = 0UL; i < filtered_size; ++i) { + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.x, (i + filtered_start) * 1.0); + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.y, 0.0); + } + } +} + +TEST(StaticDrivableArea, generateDrivableLanes) +{ + using autoware::behavior_path_planner::utils::generateDrivableLanes; + lanelet::ConstLanelets lanelets; + lanelet::Lanelet ll; + { // empty case + const auto lanes = generateDrivableLanes(lanelets); + EXPECT_TRUE(lanes.empty()); + } + { // single lanelet: it is found in the drivable lane's left/right lanes + ll.setId(0); + lanelets.push_back(ll); + const auto lanes = generateDrivableLanes(lanelets); + ASSERT_EQ(lanes.size(), lanelets.size()); + EXPECT_TRUE(lanes[0].middle_lanes.empty()); + EXPECT_EQ(lanes[0].left_lane.id(), lanelets[0].id()); + EXPECT_EQ(lanes[0].right_lane.id(), lanelets[0].id()); + } + { // many lanelets: they are all in the calculated drivable lane + for (auto i = 1; i < 20; ++i) { + ll.setId(0); + lanelets.push_back(ll); + } + const auto lanes = generateDrivableLanes(lanelets); + ASSERT_EQ(lanes.size(), lanelets.size()); + for (auto i = 0UL; i < lanes.size(); ++i) { + EXPECT_TRUE(lanes[i].middle_lanes.empty()); + EXPECT_EQ(lanes[i].left_lane.id(), lanelets[i].id()); + EXPECT_EQ(lanes[i].right_lane.id(), lanelets[i].id()); + } + } +} + +TEST(StaticDrivableArea, generateDrivableArea_subfunction) +{ + using autoware::behavior_path_planner::utils::generateDrivableArea; + tier4_planning_msgs::msg::PathWithLaneId path; + tier4_planning_msgs::msg::PathPointWithLaneId p; + generateDrivableArea(path, 0.0, 0.0, true); + EXPECT_TRUE(path.left_bound.empty()); + EXPECT_TRUE(path.right_bound.empty()); + // add only 1 point : drivable area with 1 point + p.point.pose.position.set__x(0.0).set__y(0.0); + path.points.push_back(p); + auto lon_offset = 0.0; + auto lat_offset = 0.0; + generateDrivableArea(path, lon_offset, lat_offset, true); + // 3 points in the resulting drivable area: 1 for the path point and 2 for front/rear offset + ASSERT_EQ(path.left_bound.size(), 3UL); + ASSERT_EQ(path.right_bound.size(), 3UL); + // no offset so we expect exactly the same points + for (auto i = 0UL; i < 3UL; ++i) { + EXPECT_TRUE(equal(path.points.front().point.pose.position, path.left_bound[i])); + EXPECT_TRUE(equal(path.points.front().point.pose.position, path.right_bound[i])); + } + // add some offset + lon_offset = 1.0; + lat_offset = 0.5; + generateDrivableArea(path, lon_offset, lat_offset, true); + ASSERT_EQ(path.left_bound.size(), 3UL); + ASSERT_EQ(path.right_bound.size(), 3UL); + EXPECT_DOUBLE_EQ(path.left_bound[0].x, -lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.left_bound[2].x, lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound[0].x, -lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.right_bound[2].x, lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound[0].y, lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound[1].y, lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound[2].y, lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[0].y, -lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[1].y, -lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[2].y, -lat_offset); + // set driving_forward to false: longitudinal offset is inversely applied + generateDrivableArea(path, lon_offset, lat_offset, false); + ASSERT_EQ(path.left_bound.size(), 3UL); + ASSERT_EQ(path.right_bound.size(), 3UL); + EXPECT_DOUBLE_EQ(path.left_bound[0].x, lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.left_bound[2].x, -lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound[0].x, lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.right_bound[2].x, -lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound[0].y, lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound[1].y, lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound[2].y, lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[0].y, -lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[1].y, -lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[2].y, -lat_offset); + // add more points + for (auto x = 1; x < 10; ++x) { + // space points by more than 2m to avoid resampling + p.point.pose.position.set__x(x * 3.0).set__y(0.0); + path.points.push_back(p); + } + generateDrivableArea(path, lon_offset, lat_offset, true); + ASSERT_EQ(path.left_bound.size(), path.points.size() + 2UL); + ASSERT_EQ(path.right_bound.size(), path.points.size() + 2UL); + EXPECT_DOUBLE_EQ(path.left_bound.front().x, -lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound.front().x, -lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound.back().x, path.points.back().point.pose.position.x + lon_offset); + EXPECT_DOUBLE_EQ( + path.right_bound.back().x, path.points.back().point.pose.position.x + lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound.front().y, lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound.front().y, -lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound.back().y, lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound.back().y, -lat_offset); + for (auto i = 1UL; i + 1 < path.points.size(); ++i) { + const auto & path_p = path.points[i - 1].point.pose.position; + EXPECT_DOUBLE_EQ(path.left_bound[i].x, path_p.x); + EXPECT_DOUBLE_EQ(path.right_bound[i].x, path_p.x); + EXPECT_DOUBLE_EQ(path.left_bound[i].y, path_p.y + lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[i].y, path_p.y - lat_offset); + } + // case with self intersections + path.points.clear(); + p.point.pose.position.set__x(0.0).set__y(0.0); + path.points.push_back(p); + p.point.pose.position.set__x(3.0).set__y(0.0); + path.points.push_back(p); + p.point.pose.position.set__x(0.0).set__y(3.0); + path.points.push_back(p); + lon_offset = 0.0; + lat_offset = 3.0; + generateDrivableArea(path, lon_offset, lat_offset, false); + // TODO(Anyone): self intersection case looks buggy + ASSERT_EQ(path.left_bound.size(), path.points.size() + 2UL); + ASSERT_EQ(path.right_bound.size(), path.points.size() + 2UL); + EXPECT_TRUE(equal(path.left_bound[0], path.left_bound[1])); + EXPECT_TRUE(equal(path.right_bound[0], path.right_bound[1])); + EXPECT_TRUE(equal(path.left_bound[3], path.left_bound[4])); + EXPECT_TRUE(equal(path.right_bound[3], path.right_bound[4])); + EXPECT_DOUBLE_EQ(path.left_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.left_bound[1].y, 3.0); + EXPECT_DOUBLE_EQ(path.left_bound[2].x, 3.0); + EXPECT_DOUBLE_EQ(path.left_bound[2].y, 3.0); + EXPECT_DOUBLE_EQ(path.left_bound[3].x, 0.0); + EXPECT_DOUBLE_EQ(path.left_bound[3].y, 6.0); + EXPECT_DOUBLE_EQ(path.right_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.right_bound[1].y, -3.0); + EXPECT_DOUBLE_EQ(path.right_bound[2].x, 3.0); + EXPECT_DOUBLE_EQ(path.right_bound[2].y, -3.0); + EXPECT_DOUBLE_EQ(path.right_bound[3].x, 0.0); + EXPECT_DOUBLE_EQ(path.right_bound[3].y, 0.0); +} + +TEST(StaticDrivableArea, getBoundWithIntersectionAreas) +{ + using autoware::behavior_path_planner::utils::getBoundWithIntersectionAreas; + std::vector original_bound; + std::shared_ptr route_handler = + std::make_shared(); + std::vector drivable_lanes; + bool is_left = false; + auto result = + getBoundWithIntersectionAreas(original_bound, route_handler, drivable_lanes, is_left); + EXPECT_TRUE(result.empty()); + + route_handler->setMap(intersection_map); + DrivableLanes lanes; + const auto lanelet_with_intersection_area = route_handler->getLaneletsFromId(3101); + lanes.middle_lanes = {}; + lanes.right_lane = lanelet_with_intersection_area; + lanes.left_lane = lanelet_with_intersection_area; + for (const auto & p : lanelet_with_intersection_area.rightBound()) { + original_bound.push_back(p); + } + drivable_lanes.push_back(lanes); + result = getBoundWithIntersectionAreas(original_bound, route_handler, drivable_lanes, is_left); + // the expanded bound includes the intersection area so its size is larger + EXPECT_GT(result.size(), original_bound.size()); +} + +TEST(StaticDrivableArea, combineDrivableAreaInfo) +{ + using autoware::behavior_path_planner::utils::combineDrivableAreaInfo; + autoware::behavior_path_planner::DrivableAreaInfo drivable_area_info1; + autoware::behavior_path_planner::DrivableAreaInfo drivable_area_info2; + { + const auto combined = combineDrivableAreaInfo(drivable_area_info1, drivable_area_info2); + EXPECT_TRUE(combined.drivable_lanes.empty()); + } + { // combination of obstacles + drivable_area_info1.obstacles.emplace_back().pose.position.x = 1.0; + drivable_area_info2.obstacles.emplace_back().pose.position.x = 2.0; + const auto combined = combineDrivableAreaInfo(drivable_area_info1, drivable_area_info2); + ASSERT_EQ(combined.obstacles.size(), 2UL); + EXPECT_DOUBLE_EQ(combined.obstacles[0].pose.position.x, 1.0); + EXPECT_DOUBLE_EQ(combined.obstacles[1].pose.position.x, 2.0); + } + { // combination of the drivable lanes + DrivableLanes lanes; + lanes.middle_lanes.push_back(lanelet::Lanelet(0)); + lanes.middle_lanes.push_back(lanelet::Lanelet(1)); + drivable_area_info1.drivable_lanes.push_back(lanes); + lanes.middle_lanes.clear(); + lanes.middle_lanes.push_back(lanelet::Lanelet(2)); + lanes.middle_lanes.push_back(lanelet::Lanelet(3)); + drivable_area_info2.drivable_lanes.push_back(lanes); + const auto combined = combineDrivableAreaInfo(drivable_area_info1, drivable_area_info2); + ASSERT_EQ(combined.drivable_lanes.size(), 1UL); + ASSERT_EQ(combined.drivable_lanes[0].middle_lanes.size(), 4UL); + for (auto id = 0UL; id < combined.drivable_lanes[0].middle_lanes.size(); ++id) { + EXPECT_EQ(combined.drivable_lanes[0].middle_lanes[id].id(), id); + } + } + { // combination of the parameters + drivable_area_info1.drivable_margin = 5.0; + drivable_area_info2.drivable_margin = 2.0; + drivable_area_info1.enable_expanding_freespace_areas = false; + drivable_area_info2.enable_expanding_freespace_areas = false; + drivable_area_info1.enable_expanding_intersection_areas = true; + drivable_area_info2.enable_expanding_intersection_areas = true; + drivable_area_info1.enable_expanding_hatched_road_markings = false; + drivable_area_info2.enable_expanding_hatched_road_markings = true; + const auto combined = combineDrivableAreaInfo(drivable_area_info1, drivable_area_info2); + EXPECT_DOUBLE_EQ(combined.drivable_margin, 5.0); // expect the maximum of the margins + // expect OR of the booleans + EXPECT_FALSE(combined.enable_expanding_freespace_areas); + EXPECT_TRUE(combined.enable_expanding_intersection_areas); + EXPECT_TRUE(combined.enable_expanding_hatched_road_markings); + } +} + +TEST(DISABLED_StaticDrivableArea, generateDrivableArea) +{ + using autoware::behavior_path_planner::PlannerData; + using autoware::behavior_path_planner::utils::generateDrivableArea; + tier4_planning_msgs::msg::PathWithLaneId path; + std::vector lanes; + bool enable_expanding_hatched_road_markings = true; + bool enable_expanding_intersection_areas = true; + bool enable_expanding_freespace_areas = true; + bool is_driving_forward = true; + PlannerData planner_data; + planner_data.drivable_area_expansion_parameters.enabled = false; // disable dynamic expansion + planner_data.parameters.ego_nearest_dist_threshold = 1.0; + planner_data.parameters.ego_nearest_yaw_threshold = M_PI; + auto planner_data_ptr = std::make_shared(planner_data); + // empty: no crash + EXPECT_NO_FATAL_FAILURE(generateDrivableArea( + path, lanes, enable_expanding_hatched_road_markings, enable_expanding_intersection_areas, + enable_expanding_freespace_areas, planner_data_ptr, is_driving_forward)); + planner_data.route_handler = std::make_shared(); + planner_data.route_handler->setMap(intersection_map); + // create a path from a lanelet centerline + constexpr auto lanelet_id = 3008377; + const auto ll = planner_data.route_handler->getLaneletsFromId(lanelet_id); + const auto shoulder_ll = planner_data.route_handler->getLaneletsFromId(3008385); + lanes = autoware::behavior_path_planner::utils::generateDrivableLanes({ll, shoulder_ll}); + lanelet::BasicLineString2d path_ls; + for (const auto & p : ll.centerline().basicLineString()) { + tier4_planning_msgs::msg::PathPointWithLaneId pp; + pp.point.pose.position.x = p.x(); + pp.point.pose.position.y = p.y(); + pp.point.pose.position.z = p.z(); + pp.lane_ids = {lanelet_id}; + path.points.push_back(pp); + path_ls.emplace_back(p.x(), p.y()); + } + auto odometry = nav_msgs::msg::Odometry(); + odometry.pose.pose = path.points.front().point.pose; + planner_data.self_odometry = std::make_shared(odometry); + planner_data_ptr = std::make_shared(planner_data); + generateDrivableArea( + path, lanes, enable_expanding_hatched_road_markings, enable_expanding_intersection_areas, + enable_expanding_freespace_areas, planner_data_ptr, is_driving_forward); + + ASSERT_EQ(path.left_bound.size(), ll.leftBound().size()); + ASSERT_EQ(path.right_bound.size(), ll.rightBound().size()); + { + lanelet::BasicLineString2d left_ls; + lanelet::BasicLineString2d right_ls; + for (const auto & p : path.left_bound) { + left_ls.emplace_back(p.x, p.y); + } + for (const auto & p : path.right_bound) { + right_ls.emplace_back(p.x, p.y); + } + EXPECT_FALSE(boost::geometry::intersects(path_ls, left_ls)); + EXPECT_FALSE(boost::geometry::intersects(path_ls, right_ls)); // TODO(someone): this is failing + } + // reverse case + is_driving_forward = false; + odometry.pose.pose = std::prev(path.points.end(), 2)->point.pose; + planner_data.self_odometry = std::make_shared(odometry); + planner_data_ptr = std::make_shared(planner_data); + generateDrivableArea( + path, lanes, enable_expanding_hatched_road_markings, enable_expanding_intersection_areas, + enable_expanding_freespace_areas, planner_data_ptr, is_driving_forward); + ASSERT_EQ(path.left_bound.size(), ll.leftBound().size()); + ASSERT_EQ(path.right_bound.size(), ll.rightBound().size()); + { + lanelet::BasicLineString2d left_ls; + lanelet::BasicLineString2d right_ls; + for (const auto & p : path.left_bound) { + left_ls.emplace_back(p.x, p.y); + } + for (const auto & p : path.right_bound) { + right_ls.emplace_back(p.x, p.y); + } + EXPECT_FALSE(boost::geometry::intersects(path_ls, left_ls)); + EXPECT_FALSE(boost::geometry::intersects(path_ls, right_ls)); + } +} diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst index d80acb353f330..7ca3438da02d0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package autoware_behavior_path_sampling_planner_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_sampling_planner_module): fix shadowVariable (`#7966 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix shadowVariable (`#7966 `_) * fix:shadowVariable * refactor:clang format * fix:shadowVariable * refactor:CodeSence --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml index f485ac3ac08b6..9a6b30c219d63 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml @@ -1,3 +1,40 @@ /**: ros__parameters: - start_planner: + common: + output_delta_arc_length: 0.5 # [m] delta arc length for output trajectory + + debug: + enable_calculation_time_info: false # flag to print calculation times + id: 0 # id of the candidate paths for which to print/show details (e.g., footprint in rviz) + + preprocessing: + force_zero_initial_deviation: True # if true, initial planning starts from the reference path + force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path + smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning + constraints: + hard: + max_curvature: 3.0 # [m⁻¹] maximum curvature of a sampled path + min_curvature: -3.0 # [m⁻¹] minimum curvature of a sampled path + soft: + lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path + length_weight: 1.0 # cost weight for the length of a sampled path + curvature_weight: 2000.0 # cost weight for the curvature of a sampled path + weights: [0.5,1.0,20.0] + sampling: + enable_frenet: True + enable_bezier: False + resolution: 0.5 # [m] target distance between sampled path points + previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) + target_lengths: [20.0, 40.0] # [m] target lengths of the sampled paths + nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5] # manual values that are only used if nb_target_lateral_positions = 0 + frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial + target_lateral_velocities: [-0.5, 0.0, 0.5] + target_lateral_accelerations: [0.0] + # bezier: + # nb_k: 3 # number of sampled curvature values + # mk_min: 0.0 # minimum curvature value + # mk_max: 10.0 # maximum curvature value + # nb_t: 5 # number of sampled acceleration values + # mt_min: 0.3 # minimum acceleration value + # mt_max: 1.7 # maximum acceleration value diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp index 778afd1698ff2..28c310ae20ec2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp @@ -38,7 +38,7 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams( diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp index d0d34b5d9a37f..e82c4fd287432 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp @@ -86,8 +86,7 @@ class SamplingPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); bool isExecutionRequested() const override; bool isExecutionReady() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp index 1cf40255f4fef..ede912ea1c285 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp @@ -33,9 +33,8 @@ SamplingPlannerModule::SamplingPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()} { internal_params_ = std::make_shared(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst index 583dd75d45a2f..b1fd2c45965bc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_behavior_path_side_shift_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_side_shift_module): fix unusedFunction (`#8655 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_side_shift_module): fix unusedFunction (`#8655 `_) fix:unusedFunction -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp index d1c9c8e2535ec..b495e6619a1c7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp @@ -39,7 +39,7 @@ class SideShiftModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp index 74953b7927b5d..543b17aca9352 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp @@ -45,8 +45,7 @@ class SideShiftModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); bool isExecutionRequested() const override; bool isExecutionReady() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp index e1f6d0bb6af9c..5970a3a807517 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp @@ -41,9 +41,8 @@ SideShiftModule::SideShiftModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{parameters} { } diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst index be012c8065442..d4e3a843a8319 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst @@ -5,38 +5,38 @@ Changelog for package autoware_behavior_path_start_planner_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(start_planner): update param to match launch (`#9158 `_) +* feat(start_planner): update param to match launch (`#9158 `_) update param to match launch -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) fix filter object by velocity -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) +* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) * align autoware_raw_vehicle_cmd_converter's parameter * align start_planner's parameter --------- -* feat(start_planner): add skip_rear_vehicle_check parameter (`#8863 `_) +* feat(start_planner): add skip_rear_vehicle_check parameter (`#8863 `_) Add the skip_rear_vehicle_check parameter to the start planner module configuration. This parameter allows disabling the rear vehicle check during collision detection. By default, the rear vehicle check is enabled. -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8709 `_) +* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8709 `_) * fix:checkCollisionBetweenPathFootprintsAndObjects * fix:add const * fix:unusedFunction --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) * remove redundant fused lanelet calculation * remove unnecessary change * add new function @@ -46,13 +46,13 @@ Changelog for package autoware_behavior_path_start_planner_module * add comment for better understanding * fix cppcheck --------- -* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8659 `_) +* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8659 `_) fix:unusedFunction -* refactor(start_planner): remove redundant calculation in shift pull out (`#8623 `_) +* refactor(start_planner): remove redundant calculation in shift pull out (`#8623 `_) * fix redundant calculation * fix unneccesary modification for comment --------- -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -118,14 +118,14 @@ Changelog for package autoware_behavior_path_start_planner_module * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(start_planner): add time_keeper (`#8254 `_) +* feat(start_planner): add time_keeper (`#8254 `_) * feat(start_planner): add time_keeper * fix * fix * fix shadow variables --------- -* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -158,7 +158,7 @@ Changelog for package autoware_behavior_path_start_planner_module * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* fix(autoware_behavior_path_start_planner_module): fix shadowVariable (`#7982 `_) +* fix(autoware_behavior_path_start_planner_module): fix shadowVariable (`#7982 `_) * fix:shadowVariable * fix:shadowVariable * refactor:clang format @@ -172,7 +172,7 @@ Changelog for package autoware_behavior_path_start_planner_module * refactor: namespace * refactor:clang format --------- -* feat(start_planner): add end_pose_curvature_threshold (`#7901 `_) +* feat(start_planner): add end_pose_curvature_threshold (`#7901 `_) * feat(start_planner): add end_pose_curvature_threshold * Update planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md Co-authored-by: Kyoichi Sugahara @@ -180,8 +180,8 @@ Changelog for package autoware_behavior_path_start_planner_module * update readme --------- Co-authored-by: Kyoichi Sugahara -* feat(start_planner): check current_pose and estimated_stop_pose for isPreventingRearVehicleFromPassingThrough (`#8112 `_) -* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) +* feat(start_planner): check current_pose and estimated_stop_pose for isPreventingRearVehicleFromPassingThrough (`#8112 `_) +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength * Update trajectory.hpp Co-authored-by: Kyoichi Sugahara @@ -189,12 +189,12 @@ Changelog for package autoware_behavior_path_start_planner_module Co-authored-by: Kyoichi Sugahara --------- Co-authored-by: Kyoichi Sugahara -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -202,15 +202,15 @@ Changelog for package autoware_behavior_path_start_planner_module * fix LC README * use normalized yaw diff --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_path_start_planner_module): fix duplicateBreak warning (`#7583 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_start_planner_module): fix duplicateBreak warning (`#7583 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -227,14 +227,14 @@ Changelog for package autoware_behavior_path_start_planner_module fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp index a26c48ad065c9..5d3d224673124 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp @@ -38,7 +38,7 @@ class StartPlannerModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp index e0bb5d95f565a..bb70ae2638056 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp @@ -88,8 +88,7 @@ class StartPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); ~StartPlannerModule() override { diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp index e82db8a68740e..f7713ea2e91b2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp @@ -26,7 +26,6 @@ bool PullOutPlannerBase::isPullOutPathCollided( const auto & dynamic_objects = planner_data_->dynamic_object; const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_.max_back_distance); - const auto & vehicle_footprint = vehicle_info_.createFootprint(); // extract stop objects in pull out lane for collision check const auto stop_objects = utils::path_safety_checker::filterObjectsByVelocity( *dynamic_objects, parameters_.th_moving_object_velocity); diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp index 2d94ceb85de28..aa3246eb3dac0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -67,6 +67,8 @@ std::optional ShiftPullOut::plan( std::vector fused_id_start_to_end{}; std::optional fused_polygon_start_to_end = std::nullopt; + std::vector fused_id_crop_points{}; + std::optional fused_polygon_crop_points = std::nullopt; // get safe path for (auto & pull_out_path : pull_out_paths) { universe_utils::ScopedTimeTrack st("get safe path", *time_keeper_); @@ -121,7 +123,8 @@ std::optional ShiftPullOut::plan( common_parameters.ego_nearest_yaw_threshold); const auto cropped_path = lane_departure_checker_->cropPointsOutsideOfLanes( - lanelet_map_ptr, shift_path, start_segment_idx); + lanelet_map_ptr, shift_path, start_segment_idx, fused_id_crop_points, + fused_polygon_crop_points); if (cropped_path.points.empty()) { planner_debug_data.conditions_evaluation.emplace_back("cropped path is empty"); continue; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index fa17409de5b94..7dd597e27b71f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -58,9 +58,8 @@ StartPlannerModule::StartPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{parameters}, vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}, is_freespace_planner_cb_running_{false} @@ -97,6 +96,9 @@ StartPlannerModule::StartPlannerModule( std::bind(&StartPlannerModule::onFreespacePlannerTimer, this), freespace_planner_timer_cb_group_); } + + steering_factor_interface_.init(PlanningBehavior::START_PLANNER); + velocity_factor_interface_.init(PlanningBehavior::START_PLANNER); } void StartPlannerModule::onFreespacePlannerTimer() @@ -737,6 +739,8 @@ BehaviorModuleOutput StartPlannerModule::plan() setDrivableAreaInfo(output); + setVelocityFactor(output.path); + const auto steering_factor_direction = getSteeringFactorDirection(output); if (status_.driving_forward) { @@ -747,10 +751,9 @@ BehaviorModuleOutput StartPlannerModule::plan() path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.end_pose.position); updateRTCStatus(start_distance, finish_distance); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, - {start_distance, finish_distance}, PlanningBehavior::START_PLANNER, steering_factor_direction, - SteeringFactor::TURNING, ""); + {start_distance, finish_distance}, steering_factor_direction, SteeringFactor::TURNING, ""); setDebugData(); return output; } @@ -758,9 +761,9 @@ BehaviorModuleOutput StartPlannerModule::plan() path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.start_pose.position); updateRTCStatus(0.0, distance); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance}, - PlanningBehavior::START_PLANNER, steering_factor_direction, SteeringFactor::TURNING, ""); + steering_factor_direction, SteeringFactor::TURNING, ""); setDebugData(); @@ -853,10 +856,10 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() stop_path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.end_pose.position); updateRTCStatus(start_distance, finish_distance); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, - {start_distance, finish_distance}, PlanningBehavior::START_PLANNER, steering_factor_direction, - SteeringFactor::APPROACHING, ""); + {start_distance, finish_distance}, steering_factor_direction, SteeringFactor::APPROACHING, + ""); setDebugData(); return output; @@ -865,9 +868,9 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() stop_path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.start_pose.position); updateRTCStatus(0.0, distance); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance}, - PlanningBehavior::START_PLANNER, steering_factor_direction, SteeringFactor::APPROACHING, ""); + steering_factor_direction, SteeringFactor::APPROACHING, ""); setDebugData(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst index 4da55caad730e..f6e5ba7526780 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst @@ -5,71 +5,71 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(static_obstacle_avoidance): suppress unnecessary warning (`#9142 `_) -* test(static_obstacle_avoidance): add unit test for utils functions (`#9134 `_) +* fix(static_obstacle_avoidance): suppress unnecessary warning (`#9142 `_) +* test(static_obstacle_avoidance): add unit test for utils functions (`#9134 `_) * docs(static_obstacle_avoidance): add doxygen * test: add test * fix: assert and expect * fix: wrong comment * refactor: use autoware test utils --------- -* fix(utils): fix envelope polygon update logic (`#9123 `_) -* test(bpp_common): add test for path utils (`#9122 `_) +* fix(utils): fix envelope polygon update logic (`#9123 `_) +* test(bpp_common): add test for path utils (`#9122 `_) * add test file for path utils * fix * add tests for map irrelevant function * add test for getUnshiftedEgoPose * add docstring and remove unneccesary function --------- -* fix(avoidance): don't insert stop line if the ego can't avoid or return (`#9089 `_) +* fix(avoidance): don't insert stop line if the ego can't avoid or return (`#9089 `_) * fix(avoidance): don't insert stop line if the ego can't avoid or return * fix: build error * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* refactor(static_obstacle_avoidance): move route handler based calculation outside loop (`#8968 `_) +* refactor(static_obstacle_avoidance): move route handler based calculation outside loop (`#8968 `_) * refactor filterTargetObjects * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(static_obstacle_avoidance): remove redundant calculation (`#8955 `_) +* fix(static_obstacle_avoidance): remove redundant calculation (`#8955 `_) remove redundant calculation -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) remove unused variables -* fix(static_obstacle_avoidance): update UUID when candidate shift is empty (`#8901 `_) +* fix(static_obstacle_avoidance): update UUID when candidate shift is empty (`#8901 `_) fix candidate shift line's rtc cooperate status -* docs(static_obstacle_avoidance): update envelope polygon creation (`#8822 `_) +* docs(static_obstacle_avoidance): update envelope polygon creation (`#8822 `_) * update envelope polygon creation * fix whitespace --------- -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(static_obstacle_avoidance): improve turn signal output timing when the ego returns original lane (`#8726 `_) +* fix(static_obstacle_avoidance): improve turn signal output timing when the ego returns original lane (`#8726 `_) fix(static_obstacle_avoidance): fix unexpected turn signal output -* docs(static_obstacle_avoidance): light edits. Typos, grammar fixes (`#8759 `_) +* docs(static_obstacle_avoidance): light edits. Typos, grammar fixes (`#8759 `_) * Light edit: Typos, grammar fixes. Additional changes to follow * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md Paragraph revised to correct typos @@ -85,21 +85,21 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module Co-authored-by: Go Sakayori Co-authored-by: Go Sakayori Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8776 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8776 `_) fix:unusedFunction -* fix(static_obstacle_avoidance): ignore objects which has already been decided to avoid (`#8754 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8732 `_) +* fix(static_obstacle_avoidance): ignore objects which has already been decided to avoid (`#8754 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8732 `_) fix:unusedFunction -* fix(static_obstacle_avoidance): change implementation the logic to remove invalid small shift lines (`#8721 `_) - * Revert "fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_)" +* fix(static_obstacle_avoidance): change implementation the logic to remove invalid small shift lines (`#8721 `_) + * Revert "fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_)" This reverts commit 2705a63817f02ecfa705960459438763225ea6cf. * fix(static_obstacle_avoidance): remove invalid small shift lines --------- -* fix(static_obstacle_avoidance): use wrong parameter (`#8720 `_) -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8664 `_) +* fix(static_obstacle_avoidance): use wrong parameter (`#8720 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8664 `_) fix:unusedFunction -* feat(static_obstacle_avoidance): update envelope polygon creation method (`#8551 `_) +* feat(static_obstacle_avoidance): update envelope polygon creation method (`#8551 `_) * update envelope polygon by considering pose covariance * change parameter * modify schema json @@ -107,31 +107,31 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(static_obstacle_avoidance): target object sorting (`#8545 `_) +* fix(static_obstacle_avoidance): target object sorting (`#8545 `_) * fix compensateLostTargetObjects function * remove empty case --------- -* docs(static_obstacle_avoidance): add FAQ section in document (`#8514 `_) +* docs(static_obstacle_avoidance): add FAQ section in document (`#8514 `_) * add FAQ section in readme * refer to FAQ before detail * fix --------- -* fix(static_obstacle_avoidance): change avoidance condition (`#8433 `_) -* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) +* fix(static_obstacle_avoidance): change avoidance condition (`#8433 `_) +* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) * perf(safety_check): check within first * perf(static_obstacle_avoidance): remove duplicated process * perf(static_obstacle_avoidance): remove heavy process --------- -* fix(static_obstacle_avoidance): check opposite lane (`#8345 `_) -* fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_) -* feat(static_obstacle_avoidance): force deactivation (`#8288 `_) +* fix(static_obstacle_avoidance): check opposite lane (`#8345 `_) +* fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_) +* feat(static_obstacle_avoidance): force deactivation (`#8288 `_) * add force cancel function * fix format * fix json schema * fix spelling * fix --------- -* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) +* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) * add force execution for static obstacle avoidance * fix * erase unused function in RTC interface @@ -140,48 +140,48 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module * add warn throtthle and move code block * fix --------- -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix constParameterReference (`#8046 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix constParameterReference (`#8046 `_) fix:constParameterReference -* fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path (`#8066 `_) -* feat(static_obstacle_avoidance): integrate time keeper to major functions (`#8044 `_) -* fix(static_obstacle_avoidance): fix issues in target filtiering logic (`#7954 `_) +* fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path (`#8066 `_) +* feat(static_obstacle_avoidance): integrate time keeper to major functions (`#8044 `_) +* fix(static_obstacle_avoidance): fix issues in target filtiering logic (`#7954 `_) * fix: unknown filtering flow * fix: relax target filtering logic for object which is in freespace * docs: update flowchart * fix: check stopped time in freespace --------- -* feat(static_obstacle_avoidance): show markers when system requests operator support (`#7994 `_) -* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) +* feat(static_obstacle_avoidance): show markers when system requests operator support (`#7994 `_) +* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) * fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle * chore(schema): update schema --------- -* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) +* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) fix(static_obstacle_avoidance): fix stop position -* fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge (`#7850 `_) +* fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge (`#7850 `_) * fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge * docs(static_obstacle_avoidance): update flowchart * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori -* refactor(static_avoidance): modify getAdjacentLane function (`#7843 `_) +* refactor(static_avoidance): modify getAdjacentLane function (`#7843 `_) add getLeftOppositeLanelers in getAdjacentLane function -* fix(static_obstacle_avoidance): fix issues in target object filtering logic (`#7830 `_) +* fix(static_obstacle_avoidance): fix issues in target object filtering logic (`#7830 `_) * fix(static_obstacle_avoidance): check if object is inside/outside by its position point instead of its polygon * refactor(static_obstacle_avoidance): add getter functions * fix(static_obstacle_avoidance): check next lane without route if the current lane is not preferred * fix(static_obstacle_avoidance): fix parked vehicle check --------- -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(static_obstacle_avoidance): organize params for drivable lane (`#7715 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(static_obstacle_avoidance): organize params for drivable lane (`#7715 `_) * refactor(static_obstacle_avoidance): organize params for drivable lane * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json --------- -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -189,24 +189,24 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module * fix LC README * use normalized yaw diff --------- -* docs(static_obstacle_avoidance): fix wrong flowchart (`#7693 `_) -* fix(static_obstacle_avoidance): fix json schema (`#7692 `_) -* refactor(static_obstacle_avoidance): change logger name for utils (`#7617 `_) +* docs(static_obstacle_avoidance): fix wrong flowchart (`#7693 `_) +* fix(static_obstacle_avoidance): fix json schema (`#7692 `_) +* refactor(static_obstacle_avoidance): change logger name for utils (`#7617 `_) change logger name for static avoidance utils -* feat(static_obstacle_avoidance): keep object clipping even after the object becomes non-target (`#7591 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix duplicateCondition warnings (`#7582 `_) -* docs(bpp_static_obstacle_avoidance): add documentation (`#7554 `_) +* feat(static_obstacle_avoidance): keep object clipping even after the object becomes non-target (`#7591 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix duplicateCondition warnings (`#7582 `_) +* docs(bpp_static_obstacle_avoidance): add documentation (`#7554 `_) * fix: package path * docs: add explanation of lateral margin * fix: typo * fix: wrong description --------- -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp index 52916275eeb5d..732a364db8e06 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp @@ -27,6 +27,7 @@ #include #include +#include #include #include #include @@ -594,6 +595,12 @@ struct AvoidancePlanningData double to_return_point{std::numeric_limits::max()}; + std::optional distance_to_red_traffic_light{std::nullopt}; + + std::optional closest_lanelet{std::nullopt}; + + bool is_allowed_goal_modification{false}; + bool request_operator{false}; }; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp index be6ca8bb9812d..1575d764fffd0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp @@ -212,7 +212,8 @@ class AvoidanceHelper : std::max(shift_length, getRightShiftBound()); } - double getForwardDetectionRange() const + double getForwardDetectionRange( + const std::optional & closest_lanelet) const { if (parameters_->use_static_detection_area) { return parameters_->object_check_max_forward_distance; @@ -220,12 +221,11 @@ class AvoidanceHelper const auto & route_handler = data_->route_handler; - lanelet::ConstLanelet closest_lane; - if (!route_handler->getClosestLaneletWithinRoute(getEgoPose(), &closest_lane)) { + if (!closest_lanelet.has_value()) { return parameters_->object_check_max_forward_distance; } - const auto limit = route_handler->getTrafficRulesPtr()->speedLimit(closest_lane); + const auto limit = route_handler->getTrafficRulesPtr()->speedLimit(closest_lanelet.value()); const auto speed = isShifted() ? limit.speedLimit.value() : getEgoSpeed(); const auto max_shift_length = std::max( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp index fa54ec52203f9..895390f91cc16 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp @@ -41,7 +41,7 @@ class StaticObstacleAvoidanceModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp index d4b7cae705a61..5848cc75f148e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp @@ -46,8 +46,7 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); CandidateOutput planCandidate() const override; BehaviorModuleOutput plan() override; @@ -66,6 +65,8 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface std::shared_ptr get_debug_msg_array() const; private: + ModuleStatus setInitState() const override { return ModuleStatus::WAITING_APPROVAL; }; + /** * @brief return the result whether the module can stop path generation process. * @param avoidance data. @@ -130,9 +131,9 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface } if (finish_distance > -1.0e-03) { - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {left_shift.start_pose, left_shift.finish_pose}, {start_distance, finish_distance}, - PlanningBehavior::AVOIDANCE, SteeringFactor::LEFT, SteeringFactor::TURNING, ""); + SteeringFactor::LEFT, SteeringFactor::TURNING, ""); } } @@ -150,9 +151,9 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface } if (finish_distance > -1.0e-03) { - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {right_shift.start_pose, right_shift.finish_pose}, {start_distance, finish_distance}, - PlanningBehavior::AVOIDANCE, SteeringFactor::RIGHT, SteeringFactor::TURNING, ""); + SteeringFactor::RIGHT, SteeringFactor::TURNING, ""); } } } diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp index 56d1a93ea1799..9509b9954304d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp @@ -54,7 +54,8 @@ double calcShiftLength( const bool & is_object_on_right, const double & overhang_dist, const double & avoid_margin); bool isWithinLanes( - const lanelet::ConstLanelets & lanelets, const std::shared_ptr & planner_data); + const std::optional & closest_lanelet, + const std::shared_ptr & planner_data); /** * @brief check if the ego has to shift driving position. @@ -261,12 +262,12 @@ DrivableLanes generateExpandedDrivableLanes( double calcDistanceToReturnDeadLine( const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path, const std::shared_ptr & planner_data, - const std::shared_ptr & parameters); + const std::shared_ptr & parameters, + const std::optional distance_to_red_traffic, const bool is_allowed_goal_modification); double calcDistanceToAvoidStartLine( - const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path, - const std::shared_ptr & planner_data, - const std::shared_ptr & parameters); + const lanelet::ConstLanelets & lanelets, const std::shared_ptr & parameters, + const std::optional distance_to_red_traffic); /** * @brief calculate error eclipse radius based on object pose covariance. diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 380e93338b1f0..f0fc87648bc4a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -24,6 +24,7 @@ #include "autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp" #include "autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp" +#include #include #include #include @@ -31,6 +32,7 @@ #include #include #include +#include #include #include #include @@ -76,13 +78,14 @@ StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT helper_{std::make_shared(parameters)}, parameters_{parameters}, generator_{parameters} { + steering_factor_interface_.init(PlanningBehavior::AVOIDANCE); + velocity_factor_interface_.init(PlanningBehavior::AVOIDANCE); } bool StaticObstacleAvoidanceModule::isExecutionRequested() const @@ -208,9 +211,14 @@ void StaticObstacleAvoidanceModule::fillFundamentalData( data.extend_lanelets = utils::static_obstacle_avoidance::getExtendLanes( data.current_lanelets, getEgoPose(), planner_data_); + lanelet::ConstLanelet closest_lanelet{}; + if (lanelet::utils::query::getClosestLanelet( + data.current_lanelets, getEgoPose(), &closest_lanelet)) + data.closest_lanelet = closest_lanelet; + // expand drivable lanes const auto is_within_current_lane = - utils::static_obstacle_avoidance::isWithinLanes(data.current_lanelets, planner_data_); + utils::static_obstacle_avoidance::isWithinLanes(data.closest_lanelet, planner_data_); const auto red_signal_lane_itr = std::find_if( data.current_lanelets.begin(), data.current_lanelets.end(), [&](const auto & lanelet) { if (utils::traffic_light::isTrafficSignalStop({lanelet}, planner_data_)) { @@ -283,11 +291,17 @@ void StaticObstacleAvoidanceModule::fillFundamentalData( data.reference_path, 0, data.reference_path.points.size(), autoware::motion_utils::calcSignedArcLength(data.reference_path.points, getEgoPosition(), 0)); + data.is_allowed_goal_modification = + utils::isAllowedGoalModification(planner_data_->route_handler); + data.distance_to_red_traffic_light = utils::traffic_light::calcDistanceToRedTrafficLight( + data.current_lanelets, data.reference_path_rough, planner_data_); + data.to_return_point = utils::static_obstacle_avoidance::calcDistanceToReturnDeadLine( - data.current_lanelets, data.reference_path_rough, planner_data_, parameters_); + data.current_lanelets, data.reference_path_rough, planner_data_, parameters_, + data.distance_to_red_traffic_light, data.is_allowed_goal_modification); data.to_start_point = utils::static_obstacle_avoidance::calcDistanceToAvoidStartLine( - data.current_lanelets, data.reference_path_rough, planner_data_, parameters_); + data.current_lanelets, parameters_, data.distance_to_red_traffic_light); // filter only for the latest detected objects. fillAvoidanceTargetObjects(data, debug); @@ -321,17 +335,16 @@ void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects( using utils::static_obstacle_avoidance::filterTargetObjects; using utils::static_obstacle_avoidance::separateObjectsByPath; using utils::static_obstacle_avoidance::updateRoadShoulderDistance; - using utils::traffic_light::calcDistanceToRedTrafficLight; // Separate dynamic objects based on whether they are inside or outside of the expanded lanelets. constexpr double MARGIN = 10.0; const auto forward_detection_range = [&]() { - const auto to_traffic_light = calcDistanceToRedTrafficLight( - data.current_lanelets, helper_->getPreviousReferencePath(), planner_data_); - if (!to_traffic_light.has_value()) { - return helper_->getForwardDetectionRange(); + if (!data.distance_to_red_traffic_light.has_value()) { + return helper_->getForwardDetectionRange(data.closest_lanelet); } - return std::min(helper_->getForwardDetectionRange(), to_traffic_light.value()); + return std::min( + helper_->getForwardDetectionRange(data.closest_lanelet), + data.distance_to_red_traffic_light.value()); }(); const auto [object_within_target_lane, object_outside_target_lane] = separateObjectsByPath( @@ -574,7 +587,7 @@ void StaticObstacleAvoidanceModule::fillEgoStatus( } const auto registered_sl_force_deactivated = - [&](const std::string & direction, const RegisteredShiftLineArray shift_line_array) { + [&](const std::string & direction, const RegisteredShiftLineArray & shift_line_array) { return std::any_of( shift_line_array.begin(), shift_line_array.end(), [&](const auto & shift_line) { return rtc_interface_ptr_map_.at(direction)->isForceDeactivated(shift_line.uuid); @@ -611,7 +624,7 @@ void StaticObstacleAvoidanceModule::fillEgoStatus( }; auto registered_sl_force_activated = - [&](const std::string & direction, const RegisteredShiftLineArray shift_line_array) { + [&](const std::string & direction, const RegisteredShiftLineArray & shift_line_array) { return std::any_of( shift_line_array.begin(), shift_line_array.end(), [&](const auto & shift_line) { return rtc_interface_ptr_map_.at(direction)->isForceActivated(shift_line.uuid); @@ -768,6 +781,8 @@ void StaticObstacleAvoidanceModule::updateEgoBehavior( insertReturnDeadLine(isBestEffort(parameters_->policy_deceleration), path); setStopReason(StopReason::AVOIDANCE, path.path); + + setVelocityFactor(path.path); } bool StaticObstacleAvoidanceModule::isSafePath( @@ -916,13 +931,14 @@ PathWithLaneId StaticObstacleAvoidanceModule::extendBackwardLength( } size_t clip_idx = 0; - for (size_t i = 0; i < prev_ego_idx; ++i) { - if ( - backward_length > - autoware::motion_utils::calcSignedArcLength(previous_path.points, clip_idx, *prev_ego_idx)) { + double accumulated_length = 0.0; + for (size_t i = prev_ego_idx.value(); i > 0; i--) { + accumulated_length += autoware::universe_utils::calcDistance2d( + previous_path.points.at(i - 1), previous_path.points.at(i)); + if (accumulated_length > backward_length) { + clip_idx = i; break; } - clip_idx = i; } PathWithLaneId extended_path{}; @@ -1202,10 +1218,10 @@ CandidateOutput StaticObstacleAvoidanceModule::planCandidate() const const uint16_t steering_factor_direction = std::invoke([&output]() { return output.lateral_shift > 0.0 ? SteeringFactor::LEFT : SteeringFactor::RIGHT; }); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {sl_front.start, sl_back.end}, {output.start_distance_to_path_change, output.finish_distance_to_path_change}, - PlanningBehavior::AVOIDANCE, steering_factor_direction, SteeringFactor::APPROACHING, ""); + steering_factor_direction, SteeringFactor::APPROACHING, ""); output.path_candidate = shifted_path.path; return output; @@ -1245,8 +1261,8 @@ void StaticObstacleAvoidanceModule::updatePathShifter(const AvoidLineArray & shi generator_.setRawRegisteredShiftLine(shift_lines, avoid_data_); const auto sl = helper_->getMainShiftLine(shift_lines); - const auto sl_front = shift_lines.front(); - const auto sl_back = shift_lines.back(); + const auto & sl_front = shift_lines.front(); + const auto & sl_back = shift_lines.back(); const auto relative_longitudinal = sl_back.end_longitudinal - sl_front.start_longitudinal; if (helper_->getRelativeShiftToPath(sl) > 0.0) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 72b75586d42c5..cc036b687b105 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -35,6 +35,7 @@ #include #include #include +#include #include #include @@ -545,11 +546,7 @@ bool isParkedVehicle( object.to_centerline = lanelet::utils::getArcCoordinates(data.current_lanelets, object.getPose()).distance; - if (std::abs(object.to_centerline) < parameters->threshold_distance_object_is_on_center) { - return false; - } - - return true; + return std::abs(object.to_centerline) >= parameters->threshold_distance_object_is_on_center; } bool isCloseToStopFactor( @@ -1091,16 +1088,17 @@ double getRoadShoulderDistance( return 0.0; } + const auto centerline_pose = + lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object.getPosition()); + // TODO(Satoshi OTA): check if the basic point is on right or left of bound. + const auto bound = isOnRight(object) ? data.left_bound : data.right_bound; + const auto envelope_polygon_width = boost::geometry::area(object.envelope_poly) / + std::max(object.length, 1e-3); // prevent division by zero + std::vector> intersects; for (const auto & p1 : object.overhang_points) { - const auto centerline_pose = - lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object.getPosition()); const auto p_tmp = geometry_msgs::build().position(p1.second).orientation(centerline_pose.orientation); - - // TODO(Satoshi OTA): check if the basic point is on right or left of bound. - const auto bound = isOnRight(object) ? data.left_bound : data.right_bound; - for (size_t i = 1; i < bound.size(); i++) { { const auto p2 = @@ -1114,11 +1112,6 @@ double getRoadShoulderDistance( break; } } - - const auto envelope_polygon_width = - boost::geometry::area(object.envelope_poly) / - std::max(object.length, 1e-3); // prevent division by zero - { const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -0.5 : 0.5) * envelope_polygon_width, 0.0) @@ -1169,7 +1162,8 @@ double calcShiftLength( } bool isWithinLanes( - const lanelet::ConstLanelets & lanelets, const std::shared_ptr & planner_data) + const std::optional & closest_lanelet, + const std::shared_ptr & planner_data) { const auto & rh = planner_data->route_handler; const auto & ego_pose = planner_data->self_odometry->pose.pose; @@ -1177,8 +1171,7 @@ bool isWithinLanes( const auto footprint = autoware::universe_utils::transformVector( planner_data->parameters.vehicle_info.createFootprint(), transform); - lanelet::ConstLanelet closest_lanelet{}; - if (!lanelet::utils::query::getClosestLanelet(lanelets, ego_pose, &closest_lanelet)) { + if (!closest_lanelet.has_value()) { return true; } @@ -1186,18 +1179,18 @@ bool isWithinLanes( // push previous lanelet lanelet::ConstLanelets prev_lanelet; - if (rh->getPreviousLaneletsWithinRoute(closest_lanelet, &prev_lanelet)) { + if (rh->getPreviousLaneletsWithinRoute(closest_lanelet.value(), &prev_lanelet)) { concat_lanelets.push_back(prev_lanelet.front()); } // push nearest lanelet { - concat_lanelets.push_back(closest_lanelet); + concat_lanelets.push_back(closest_lanelet.value()); } // push next lanelet lanelet::ConstLanelet next_lanelet; - if (rh->getNextLaneletWithinRoute(closest_lanelet, &next_lanelet)) { + if (rh->getNextLaneletWithinRoute(closest_lanelet.value(), &next_lanelet)) { concat_lanelets.push_back(next_lanelet); } @@ -1301,7 +1294,7 @@ std::vector calcParentIds(const AvoidLineArray & lines1, const AvoidLine & for (const auto & al : lines1) { const auto p_s = al.start_longitudinal; const auto p_e = al.end_longitudinal; - const auto has_overlap = !(p_e < lines2.start_longitudinal || lines2.end_longitudinal < p_s); + const auto has_overlap = p_e >= lines2.start_longitudinal && lines2.end_longitudinal >= p_s; if (!has_overlap) { continue; @@ -1315,10 +1308,11 @@ std::vector calcParentIds(const AvoidLineArray & lines1, const AvoidLine & double lerpShiftLengthOnArc(double arc, const AvoidLine & ap) { if (ap.start_longitudinal <= arc && arc < ap.end_longitudinal) { - if (std::abs(ap.getRelativeLongitudinal()) < 1.0e-5) { + const auto relative_longitudinal = ap.getRelativeLongitudinal(); + if (std::abs(relative_longitudinal) < 1.0e-5) { return ap.end_shift_length; } - const auto start_weight = (ap.end_longitudinal - arc) / ap.getRelativeLongitudinal(); + const auto start_weight = (ap.end_longitudinal - arc) / relative_longitudinal; return start_weight * ap.start_shift_length + (1.0 - start_weight) * ap.end_shift_length; } return 0.0; @@ -1339,7 +1333,6 @@ void fillLongitudinalAndLengthByClosestEnvelopeFootprint( } obj.longitudinal = min_distance; obj.length = max_distance - min_distance; - return; } std::vector> calcEnvelopeOverhangDistance( @@ -1958,13 +1951,11 @@ void filterTargetObjects( ? autoware::motion_utils::calcSignedArcLength( data.reference_path_rough.points, ego_idx, data.reference_path_rough.points.size() - 1) : std::numeric_limits::max(); - const auto & is_allowed_goal_modification = - utils::isAllowedGoalModification(planner_data->route_handler); for (auto & o : objects) { if (!filtering_utils::isSatisfiedWithCommonCondition( o, data.reference_path_rough, forward_detection_range, to_goal_distance, - planner_data->self_odometry->pose.pose.position, is_allowed_goal_modification, + planner_data->self_odometry->pose.pose.position, data.is_allowed_goal_modification, parameters)) { data.other_objects.push_back(o); continue; @@ -2220,9 +2211,9 @@ std::vector getSafetyCheckTargetObjects( }); }; - const auto to_predicted_objects = [&p, ¶meters](const auto & objects) { + const auto to_predicted_objects = [¶meters](const auto & objects) { PredictedObjects ret{}; - std::for_each(objects.begin(), objects.end(), [&p, &ret, ¶meters](const auto & object) { + std::for_each(objects.begin(), objects.end(), [&ret, ¶meters](const auto & object) { if (filtering_utils::isSafetyCheckTargetObjectType(object.object, parameters)) { // check only moving objects if (filtering_utils::isMovingObject(object, parameters) || !object.is_parked) { @@ -2564,9 +2555,8 @@ DrivableLanes generateExpandedDrivableLanes( } double calcDistanceToAvoidStartLine( - const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path, - const std::shared_ptr & planner_data, - const std::shared_ptr & parameters) + const lanelet::ConstLanelets & lanelets, const std::shared_ptr & parameters, + const std::optional distance_to_red_traffic) { if (lanelets.empty()) { return std::numeric_limits::lowest(); @@ -2576,11 +2566,10 @@ double calcDistanceToAvoidStartLine( // dead line stop factor(traffic light) if (parameters->enable_dead_line_for_traffic_light) { - const auto to_traffic_light = calcDistanceToRedTrafficLight(lanelets, path, planner_data); - if (to_traffic_light.has_value()) { + if (distance_to_red_traffic.has_value()) { distance_to_return_dead_line = std::max( distance_to_return_dead_line, - to_traffic_light.value() + parameters->dead_line_buffer_for_traffic_light); + distance_to_red_traffic.value() + parameters->dead_line_buffer_for_traffic_light); } } @@ -2590,7 +2579,8 @@ double calcDistanceToAvoidStartLine( double calcDistanceToReturnDeadLine( const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path, const std::shared_ptr & planner_data, - const std::shared_ptr & parameters) + const std::shared_ptr & parameters, + const std::optional distance_to_red_traffic, const bool is_allowed_goal_modification) { if (lanelets.empty()) { return std::numeric_limits::max(); @@ -2600,18 +2590,15 @@ double calcDistanceToReturnDeadLine( // dead line stop factor(traffic light) if (parameters->enable_dead_line_for_traffic_light) { - const auto to_traffic_light = calcDistanceToRedTrafficLight(lanelets, path, planner_data); - if (to_traffic_light.has_value()) { + if (distance_to_red_traffic.has_value()) { distance_to_return_dead_line = std::min( distance_to_return_dead_line, - to_traffic_light.value() - parameters->dead_line_buffer_for_traffic_light); + distance_to_red_traffic.value() - parameters->dead_line_buffer_for_traffic_light); } } // dead line for goal - if ( - !utils::isAllowedGoalModification(planner_data->route_handler) && - parameters->enable_dead_line_for_goal) { + if (!is_allowed_goal_modification && parameters->enable_dead_line_for_goal) { if (planner_data->route_handler->isInGoalRouteSection(lanelets.back())) { const auto & ego_pos = planner_data->self_odometry->pose.pose.position; const auto to_goal_distance = diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst index 5d2f39bbbdde5..cca3b919daf18 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_behavior_velocity_blind_spot_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(blind_spot): hide debug information (`#8885 `_) -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(blind_spot): hide debug information (`#8885 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_blind_spot_module): fix funcArgNamesDifferent (`#8021 `_) +* fix(autoware_behavior_velocity_blind_spot_module): fix funcArgNamesDifferent (`#8021 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent * refactor:clang format --------- -* feat(blind_spot): consider road_shoulder if exist (`#7925 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat(blind_spot): consider road_shoulder if exist (`#7925 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp index da4582dd1643f..116050871c722 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp @@ -24,7 +24,7 @@ namespace autoware::behavior_velocity_planner */ template void BlindSpotModule::setRTCStatusByDecision( - const T &, const tier4_planning_msgs::msg::PathWithLaneId & path) + const T &, [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path) { static_assert("Unsupported type passed to setRTCStatus"); return; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst index cee14701b03c5..f9fe6b4479c0a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst @@ -5,49 +5,49 @@ Changelog for package autoware_behavior_velocity_crosswalk_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* fix(crosswalk): fix occlusion detection range calculation and add debug markers (`#9121 `_) -* fix(crosswalk): fix passing direction calclation for the objects (`#9071 `_) -* fix(crosswalk): change exceptional handling (`#8956 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(crosswalk): fix occlusion detection range calculation and add debug markers (`#9121 `_) +* fix(crosswalk): fix passing direction calclation for the objects (`#9071 `_) +* fix(crosswalk): change exceptional handling (`#8956 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(crosswalk)!: update stop position caluculation (`#8853 `_) -* feat(crosswalk): suppress restart when the ego is close to the next stop point (`#8817 `_) +* feat(crosswalk)!: update stop position caluculation (`#8853 `_) +* feat(crosswalk): suppress restart when the ego is close to the next stop point (`#8817 `_) * feat(crosswalk): suppress restart when the ego is close to the next stop point * update * add comment --------- -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(autoware_behavior_velocity_crosswalk_module): fix unusedFunction (`#8665 `_) +* fix(autoware_behavior_velocity_crosswalk_module): fix unusedFunction (`#8665 `_) fix:unusedFunction -* fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic (`#8459 `_) +* fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic (`#8459 `_) * fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic * define ego_crosswalk_passage_direction later --------- -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_crosswalk_module): fix passedByValue (`#8210 `_) +* fix(autoware_behavior_velocity_crosswalk_module): fix passedByValue (`#8210 `_) * fix:passedByValue * fix:passedByValue --------- -* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) +* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) * refactor(crosswalk): clean up the structure and create a brief flowchart * update * fix * static stop pose -> default stop pose --------- -* fix(autoware_behavior_velocity_crosswalk_module): fix shadowVariable (`#7974 `_) +* fix(autoware_behavior_velocity_crosswalk_module): fix shadowVariable (`#7974 `_) * fix:shadowVariable * fix:shadowVariable --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Mehmet Dogru, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp index 949a8de361409..8ba05be36ae56 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp @@ -51,8 +51,6 @@ CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node) getOrDeclareParameter(node, ns + ".stop_position.stop_distance_from_object_preferred"); cp.stop_distance_from_object_limit = getOrDeclareParameter(node, ns + ".stop_position.stop_distance_from_object_limit"); - cp.far_object_threshold = - getOrDeclareParameter(node, ns + ".stop_position.far_object_threshold"); cp.stop_position_threshold = getOrDeclareParameter(node, ns + ".stop_position.stop_position_threshold"); cp.min_acc_preferred = diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 057c9d103aeba..51a0b4aa23fde 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -420,9 +420,7 @@ std::optional CrosswalkModule::calcStopPose( if (!ped_stop_pref_opt.has_value()) { RCLCPP_INFO(logger_, "Failure to calculate pref_stop."); return std::nullopt; - } else if ( - default_stop_opt.has_value() && ped_stop_pref_opt->dist > default_stop_opt->dist && - ped_stop_pref_opt->dist < default_stop_opt->dist + planner_param_.far_object_threshold) { + } else if (default_stop_opt.has_value() && ped_stop_pref_opt->dist > default_stop_opt->dist) { return default_stop_opt; } else { return ped_stop_pref_opt; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index 80f348027e1fd..de696aa670ad3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -122,7 +122,6 @@ class CrosswalkModule : public SceneModuleInterface double stop_distance_from_object_preferred; double stop_distance_from_object_limit; double stop_distance_from_crosswalk; - double far_object_threshold; double stop_position_threshold; double min_acc_preferred; double min_jerk_preferred; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst index ac7190a4bc0c9..2db48d466139c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_behavior_velocity_detection_area_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(detection_area): refactor and add unit tests (`#9087 `_) -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* test(detection_area): refactor and add unit tests (`#9087 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_detection_area_module): fix uninitMemberVar (`#8332 `_) +* fix(autoware_behavior_velocity_detection_area_module): fix uninitMemberVar (`#8332 `_) fix:uninitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp index afbff7425542a..abbb818f2b042 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp @@ -195,13 +195,14 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Create legacy StopReason { - const auto insert_idx = stop_point->first + 1; + const double stop_path_point_distance = autoware::motion_utils::calcSignedArcLength( + path->points, 0, stop_pose.position, stop_point->first); if ( - !first_stop_path_point_index_ || - static_cast(insert_idx) < first_stop_path_point_index_) { + !first_stop_path_point_distance_ || + stop_path_point_distance < first_stop_path_point_distance_.value()) { debug_data_.first_stop_pose = stop_point->second; - first_stop_path_point_index_ = static_cast(insert_idx); + first_stop_path_point_distance_ = stop_path_point_distance; } } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst index 1d8d193f03031..d7e0b2d2fd5ae 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst @@ -5,66 +5,66 @@ Changelog for package autoware_behavior_velocity_intersection_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(intersection): print RTC status in diagnostic debug message (`#9007 `_) +* chore(intersection): print RTC status in diagnostic debug message (`#9007 `_) debug(intersection): print RTC status in diagnostic message -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(intersection): handle pass judge after red/arrow-signal to ignore NPCs after the signal changed to green again (`#9119 `_) -* fix(intersection): set RTC enable (`#9040 `_) +* fix(intersection): handle pass judge after red/arrow-signal to ignore NPCs after the signal changed to green again (`#9119 `_) +* fix(intersection): set RTC enable (`#9040 `_) set rtc enable -* fix(interpolation): fix bug of interpolation (`#8969 `_) +* fix(interpolation): fix bug of interpolation (`#8969 `_) fix bug of interpolation -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(intersection): fix typo (`#8911 `_) +* fix(intersection): fix typo (`#8911 `_) * fix(intersection): fix typo * fix(intersection): fix typo * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(bvp): fix rtc state update logic (`#8884 `_) +* fix(bvp): fix rtc state update logic (`#8884 `_) * fix(bvp): fix rtc state update logic * fix(intersection): fix unexpected rtc state initialization --------- -* fix(autoware_behavior_velocity_intersection_module): fix unusedFunction (`#8666 `_) +* fix(autoware_behavior_velocity_intersection_module): fix unusedFunction (`#8666 `_) * fix:unusedFunction * fix:unusedFunction --------- -* fix(autoware_behavior_velocity_intersection_module): fix unreadVariable (`#8836 `_) +* fix(autoware_behavior_velocity_intersection_module): fix unreadVariable (`#8836 `_) fix:unreadVariable -* fix(autoware_behavior_velocity_intersection_module): fix virtualCallInConstructor (`#8835 `_) +* fix(autoware_behavior_velocity_intersection_module): fix virtualCallInConstructor (`#8835 `_) fix:virtualCallInConstructor -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(intersection): additional fix for 8520 (`#8561 `_) -* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) +* fix(intersection): additional fix for 8520 (`#8561 `_) +* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) * for enclave occlusion detection lanelet * some refactorings and modify doxygen * fix ci --------- Co-authored-by: Y.Hisaki -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* feat(intersection): add test map for intersection (`#8455 `_) -* fix(autoware_smart_mpc_trajectory_follower): fix unusedStructMember (`#8393 `_) +* feat(intersection): add test map for intersection (`#8455 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix unusedStructMember (`#8393 `_) * fix:unusedStructMember * fix:unusedStructMember * fix:clang format --------- -* fix(autoware_behavior_velocity_intersection_module): fix functionConst (`#8283 `_) +* fix(autoware_behavior_velocity_intersection_module): fix functionConst (`#8283 `_) fix:functionConst -* fix(autoware_behavior_velocity_intersection_module): fix funcArgNamesDifferent (`#8023 `_) +* fix(autoware_behavior_velocity_intersection_module): fix funcArgNamesDifferent (`#8023 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent * refactor:clang format * fix:funcArgNamesDifferent --------- -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter @@ -74,21 +74,21 @@ Changelog for package autoware_behavior_velocity_intersection_module --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* fix(autoware_behavior_velocity_intersection_module): fix shadowVariable (`#7976 `_) -* fix(autoware_behavior_velocity_intersection_module): fix shadowFunction (`#7835 `_) +* fix(autoware_behavior_velocity_intersection_module): fix shadowVariable (`#7976 `_) +* fix(autoware_behavior_velocity_intersection_module): fix shadowFunction (`#7835 `_) * fix(autoware_behavior_velocity_intersection_module): fix shadowFunction * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) intersection -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Satoshi OTA, T-Kimura-MM, Takayuki Murooka, Yoshi Ri, Yukinari Hisaki, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CMakeLists.txt index 167c7182e8f05..38298694d76f9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CMakeLists.txt @@ -22,6 +22,10 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp ) +target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC + ${OpenCV_INCLUDE_DIRS} +) + target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp index dcb0ebb5ba688..39ed8e80412a6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp @@ -360,7 +360,7 @@ IntersectionModuleManager::getModuleExpiredFunction( const auto lane_set = planning_utils::getLaneletsOnPath( path, planner_data_->route_handler_->getLaneletMapPtr(), planner_data_->current_odometry->pose); - return [this, lane_set](const std::shared_ptr & scene_module) { + return [lane_set](const std::shared_ptr & scene_module) { const auto intersection_module = std::dynamic_pointer_cast(scene_module); const auto & associative_ids = intersection_module->getAssociativeIds(); for (const auto & lane : lane_set) { @@ -555,7 +555,7 @@ MergeFromPrivateModuleManager::getModuleExpiredFunction( const auto lane_set = planning_utils::getLaneletsOnPath( path, planner_data_->route_handler_->getLaneletMapPtr(), planner_data_->current_odometry->pose); - return [this, lane_set](const std::shared_ptr & scene_module) { + return [lane_set](const std::shared_ptr & scene_module) { const auto merge_from_private_module = std::dynamic_pointer_cast(scene_module); const auto & associative_ids = merge_from_private_module->getAssociativeIds(); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index 844380f135559..8115f52437a04 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -490,8 +490,10 @@ VisitorSwitch(Ts...) -> VisitorSwitch; template void prepareRTCByDecisionResult( - const T & result, const tier4_planning_msgs::msg::PathWithLaneId & path, bool * default_safety, - double * default_distance, bool * occlusion_safety, double * occlusion_distance) + [[maybe_unused]] const T & result, + [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path, + [[maybe_unused]] bool * default_safety, [[maybe_unused]] double * default_distance, + [[maybe_unused]] bool * occlusion_safety, [[maybe_unused]] double * occlusion_distance) { static_assert("Unsupported type passed to prepareRTCByDecisionResult"); return; @@ -704,10 +706,14 @@ void IntersectionModule::prepareRTCStatus( template void reactRTCApprovalByDecisionResult( - const bool rtc_default_approved, const bool rtc_occlusion_approved, const T & decision_result, - const IntersectionModule::PlannerParam & planner_param, const double baselink2front, - tier4_planning_msgs::msg::PathWithLaneId * path, StopReason * stop_reason, - VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) + [[maybe_unused]] const bool rtc_default_approved, + [[maybe_unused]] const bool rtc_occlusion_approved, [[maybe_unused]] const T & decision_result, + [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, + [[maybe_unused]] const double baselink2front, + [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, + [[maybe_unused]] StopReason * stop_reason, + [[maybe_unused]] VelocityFactorInterface * velocity_factor, + [[maybe_unused]] IntersectionModule::DebugData * debug_data) { static_assert("Unsupported type passed to reactRTCByDecisionResult"); return; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst index c158782bed571..6befa38af63e1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_no_drivable_lane_module): fix uninitMemberVar (`#8322 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix uninitMemberVar (`#8322 `_) * fix:uninitMemberVar * fix:uninitMemberVar --------- -* fix(autoware_behavior_velocity_no_drivable_lane_module): fix bug of uninitialization (`#7928 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning (`#7631 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix bug of uninitialization (`#7928 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning (`#7631 `_) * fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst index 3db92130f35f6..130aa5c56cd48 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(no_stopping_area): refactor and add tests (`#9009 `_) +* test(no_stopping_area): refactor and add tests (`#9009 `_) Co-authored-by: Kosuke Takeuchi -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_no_stopping_area_module): fix uninitMemberVar (`#8321 `_) +* fix(autoware_behavior_velocity_no_stopping_area_module): fix uninitMemberVar (`#8321 `_) fix:uninitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index 031f2976da0a7..bac91d6ca92fd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -153,12 +153,14 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason // Create legacy StopReason { - const auto insert_idx = stop_point->first + 1; + const double stop_path_point_distance = autoware::motion_utils::calcSignedArcLength( + path->points, 0, stop_pose.position, stop_point->first); + if ( - !first_stop_path_point_index_ || - static_cast(insert_idx) < first_stop_path_point_index_) { - debug_data_.first_stop_pose = stop_pose; - first_stop_path_point_index_ = static_cast(insert_idx); + !first_stop_path_point_distance_ || + stop_path_point_distance < first_stop_path_point_distance_.value()) { + debug_data_.first_stop_pose = stop_point->second; + first_stop_path_point_distance_ = stop_path_point_distance; } } } else if (state_machine_.getState() == StateMachine::State::GO) { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst index 805fc77cf7181..42636a0ca1d89 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst @@ -5,30 +5,30 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8320 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8320 `_) * fix:uninitMemberVar * fix:clang format * fix:uninitMemberVar * fix:clang format * fix:clang format --------- -* fix(autoware_behavior_velocity_occlusion_module): fix passedByValue (`#8211 `_) +* fix(autoware_behavior_velocity_occlusion_module): fix passedByValue (`#8211 `_) fix:passedByValue -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_velocity_occlusion_spot_module): fix redundantAssignment bug (`#7559 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_velocity_occlusion_spot_module): fix redundantAssignment bug (`#7559 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst index 738fe8cf0bf6f..c4594d8bc0df4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_behavior_velocity_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_behavior_velocity_planner): fix passedByValue (`#8213 `_) +* fix(autoware_behavior_velocity_planner): fix passedByValue (`#8213 `_) fix:passedByValue -* chore(autoware_behavior_velocity_planner): remove no_prefix function from tests (`#7589 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* chore(autoware_behavior_velocity_planner): remove no_prefix function from tests (`#7589 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) +* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) * chore(behavior_velocity_planner): fix CODEOWNERS and page links * fix: fix page link --------- -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp index 93473402ebc9c..5f4d0606abfc6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp @@ -38,20 +38,6 @@ #include #include -namespace -{ -rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node_ptr) -{ - rclcpp::CallbackGroup::SharedPtr callback_group = - node_ptr->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); - - auto sub_opt = rclcpp::SubscriptionOptions(); - sub_opt.callback_group = callback_group; - - return sub_opt; -} -} // namespace - namespace autoware::behavior_velocity_planner { namespace @@ -80,8 +66,7 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio // Trigger Subscriber trigger_sub_path_with_lane_id_ = this->create_subscription( - "~/input/path_with_lane_id", 1, std::bind(&BehaviorVelocityPlannerNode::onTrigger, this, _1), - createSubscriptionOptions(this)); + "~/input/path_with_lane_id", 1, std::bind(&BehaviorVelocityPlannerNode::onTrigger, this, _1)); srv_load_plugin_ = create_service( "~/service/load_plugin", std::bind(&BehaviorVelocityPlannerNode::onLoadPlugin, this, _1, _2)); @@ -248,7 +233,7 @@ bool BehaviorVelocityPlannerNode::processData(rclcpp::Clock clock) bool is_ready = true; const auto & logData = [&clock, this](const std::string & data_type) { std::string msg = "Waiting for " + data_type + " data"; - RCLCPP_INFO_THROTTLE(get_logger(), clock, logger_throttle_interval, msg.c_str()); + RCLCPP_INFO_THROTTLE(get_logger(), clock, logger_throttle_interval, "%s", msg.c_str()); }; const auto & getData = [&logData](auto & dest, auto & sub, const std::string & data_type = "") { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp index 4a55ba5c1c666..05aa4868249f3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp @@ -14,9 +14,13 @@ #include "planner_manager.hpp" +#include +#include + #include #include +#include #include namespace autoware::behavior_velocity_planner @@ -103,24 +107,28 @@ tier4_planning_msgs::msg::PathWithLaneId BehaviorVelocityPlannerManager::planPat { tier4_planning_msgs::msg::PathWithLaneId output_path_msg = input_path_msg; - int first_stop_path_point_index = static_cast(output_path_msg.points.size() - 1); + double first_stop_path_point_distance = + autoware::motion_utils::calcArcLength(output_path_msg.points); std::string stop_reason_msg("path_end"); for (const auto & plugin : scene_manager_plugins_) { plugin->updateSceneModuleInstances(planner_data, input_path_msg); plugin->plan(&output_path_msg); - const auto firstStopPathPointIndex = plugin->getFirstStopPathPointIndex(); + const std::optional firstStopPathPointDistance = + plugin->getFirstStopPathPointDistance(); - if (firstStopPathPointIndex) { - if (firstStopPathPointIndex.value() < first_stop_path_point_index) { - first_stop_path_point_index = firstStopPathPointIndex.value(); + if (firstStopPathPointDistance.has_value()) { + if (firstStopPathPointDistance.value() < first_stop_path_point_distance) { + first_stop_path_point_distance = firstStopPathPointDistance.value(); stop_reason_msg = plugin->getModuleName(); } } } - stop_reason_diag_ = makeStopReasonDiag( - stop_reason_msg, output_path_msg.points[first_stop_path_point_index].point.pose); + const geometry_msgs::msg::Pose stop_pose = autoware::motion_utils::calcInterpolatedPose( + output_path_msg.points, first_stop_path_point_distance); + + stop_reason_diag_ = makeStopReasonDiag(stop_reason_msg, stop_pose); return output_path_msg; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst index 7ca9c6913dd4a..de8e6e910e7a6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst @@ -5,52 +5,52 @@ Changelog for package autoware_behavior_velocity_planner_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner_common): fix findOffsetSegment (`#9130 `_) -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* test(no_stopping_area): refactor and add tests (`#9009 `_) +* fix(behavior_velocity_planner_common): fix findOffsetSegment (`#9130 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* test(no_stopping_area): refactor and add tests (`#9009 `_) Co-authored-by: Kosuke Takeuchi -* fix(autoware_behavior_velocity_planner_common): add node clock, fix use sim time (`#8876 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* fix(autoware_behavior_velocity_planner_common): add node clock, fix use sim time (`#8876 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(bvp): fix rtc state update logic (`#8884 `_) +* fix(bvp): fix rtc state update logic (`#8884 `_) * fix(bvp): fix rtc state update logic * fix(intersection): fix unexpected rtc state initialization --------- -* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) -* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) +* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) +* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) * for enclave occlusion detection lanelet * some refactorings and modify doxygen * fix ci --------- Co-authored-by: Y.Hisaki -* fix(autoware_behavior_velocity_planner_common): fix variableScope (`#8446 `_) +* fix(autoware_behavior_velocity_planner_common): fix variableScope (`#8446 `_) fix:variableScope -* feat(intersection): add test map for intersection (`#8455 `_) -* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) +* feat(intersection): add test map for intersection (`#8455 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) * not resample debug_trajectories if not published * update dependant packages --------- -* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) +* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) intersection -* fix(autoware_behavior_velocity_planner_common): fix unusedScopedObject bug (`#7570 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_behavior_velocity_planner_common): fix unusedScopedObject bug (`#7570 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) Co-authored-by: Fumiya Watanabe -* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Dawid Moszyński, Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp index b163cd31e3030..5f6549f1e4492 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp @@ -34,7 +34,7 @@ class PluginInterface virtual void updateSceneModuleInstances( const std::shared_ptr & planner_data, const tier4_planning_msgs::msg::PathWithLaneId & path) = 0; - virtual std::optional getFirstStopPathPointIndex() = 0; + virtual std::optional getFirstStopPathPointDistance() = 0; virtual const char * getModuleName() = 0; }; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp index 0e32ff958c0a5..0392bf24d3a36 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp @@ -38,9 +38,9 @@ class PluginWrapper : public PluginInterface { scene_manager_->updateSceneModuleInstances(planner_data, path); } - std::optional getFirstStopPathPointIndex() override + std::optional getFirstStopPathPointDistance() override { - return scene_manager_->getFirstStopPathPointIndex(); + return scene_manager_->getFirstStopPathPointDistance(); } const char * getModuleName() override { return scene_manager_->getModuleName(); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp index 705062e35885b..e39cfb3a5144d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp @@ -37,6 +37,7 @@ #include #include +#include #include #include #include @@ -115,7 +116,7 @@ class SceneModuleInterface std::shared_ptr getTimeKeeper() { return time_keeper_; } - std::optional getFirstStopPathPointIndex() { return first_stop_path_point_index_; } + std::optional getFirstStopPathPointDistance() { return first_stop_path_point_distance_; } void setActivation(const bool activated) { activated_ = activated; } void setRTCEnabled(const bool enable_rtc) { rtc_enabled_ = enable_rtc; } @@ -138,7 +139,7 @@ class SceneModuleInterface rclcpp::Clock::SharedPtr clock_; std::shared_ptr planner_data_; std::optional infrastructure_command_; - std::optional first_stop_path_point_index_; + std::optional first_stop_path_point_distance_; autoware::motion_utils::VelocityFactorInterface velocity_factor_; std::vector objects_of_interest_; mutable std::shared_ptr time_keeper_; @@ -173,7 +174,7 @@ class SceneModuleManagerInterface virtual const char * getModuleName() = 0; - std::optional getFirstStopPathPointIndex() { return first_stop_path_point_index_; } + std::optional getFirstStopPathPointDistance() { return first_stop_path_point_distance_; } void updateSceneModuleInstances( const std::shared_ptr & planner_data, @@ -207,7 +208,7 @@ class SceneModuleManagerInterface std::shared_ptr planner_data_; autoware::motion_utils::VirtualWallMarkerCreator virtual_wall_marker_creator_; - std::optional first_stop_path_point_index_; + std::optional first_stop_path_point_distance_; rclcpp::Node & node_; rclcpp::Clock::SharedPtr clock_; // Debug diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp index ba7a0bee2851e..2d014d4bbf81d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp @@ -117,7 +117,7 @@ void SceneModuleManagerInterface::modifyPathVelocity( tier4_v2x_msgs::msg::InfrastructureCommandArray infrastructure_command_array; infrastructure_command_array.stamp = clock_->now(); - first_stop_path_point_index_ = static_cast(path->points.size()) - 1; + first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); for (const auto & scene_module : scene_modules_) { tier4_planning_msgs::msg::StopReason stop_reason; scene_module->resetVelocityFactor(); @@ -137,8 +137,8 @@ void SceneModuleManagerInterface::modifyPathVelocity( infrastructure_command_array.commands.push_back(*command); } - if (scene_module->getFirstStopPathPointIndex() < first_stop_path_point_index_) { - first_stop_path_point_index_ = scene_module->getFirstStopPathPointIndex(); + if (scene_module->getFirstStopPathPointDistance() < first_stop_path_point_distance_) { + first_stop_path_point_distance_ = scene_module->getFirstStopPathPointDistance(); } for (const auto & marker : scene_module->createDebugMarkerArray().markers) { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp index 2132d50d0ad52..17ea92022ea13 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp @@ -21,8 +21,6 @@ #include #include -constexpr double DOUBLE_EPSILON = 1e-6; - namespace autoware::behavior_velocity_planner { bool splineInterpolate( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst index 67c9028c5e011..6ffbc52ff3077 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst @@ -5,37 +5,37 @@ Changelog for package autoware_behavior_velocity_run_out_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8779 `_) +* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8779 `_) fix:unusedFunction -* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8669 `_) +* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8669 `_) fix:unusedFunction -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(behavior_velocity_planner): fix cppcheck warnings of functionStatic (`#8262 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of functionStatic (`#8262 `_) fix: deal with functionStatic warnings -* fix(autoware_behavior_velocity_run_out_module): fix functionConst (`#8284 `_) +* fix(autoware_behavior_velocity_run_out_module): fix functionConst (`#8284 `_) fix:functionConst -* fix(autoware_behavior_velocity_run_out_module): fix passedByValue (`#8215 `_) +* fix(autoware_behavior_velocity_run_out_module): fix passedByValue (`#8215 `_) * fix:passedByValue * fix:passedByValue * fix:passedByValue --------- -* fix(autoware_behavior_velocity_run_out_module): fix constParameterReference (`#8050 `_) +* fix(autoware_behavior_velocity_run_out_module): fix constParameterReference (`#8050 `_) fix:constParameterReference -* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) +* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) * chore(behavior_velocity_planner): fix CODEOWNERS and page links * fix: fix page link --------- -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt index bcbe4ea12a643..da2f4ce33ff60 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt @@ -15,4 +15,19 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/path_utils.cpp ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + tests/test_dynamic_obstacle.cpp + tests/test_path_utils.cpp + tests/test_utils.cpp + tests/test_state_machine.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + autoware_behavior_velocity_run_out_module + ) + target_include_directories(test_${PROJECT_NAME} PRIVATE src) +endif() + + + ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml index 369b5fba81122..6aaab5817aad6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml @@ -41,6 +41,7 @@ tf2_ros visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp index f75da2b5cc5de..74b1ca490f752 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp @@ -32,8 +32,7 @@ namespace autoware::behavior_velocity_planner { -namespace -{ + // create quaternion facing to the nearest trajectory point geometry_msgs::msg::Quaternion createQuaternionFacingToTrajectory( const PathPointsWithLaneId & path_points, const geometry_msgs::msg::Point & point) @@ -114,10 +113,7 @@ pcl::PointCloud applyVoxelGridFilter( bool isAheadOf( const geometry_msgs::msg::Point & target_point, const geometry_msgs::msg::Pose & base_pose) { - const auto longitudinal_deviation = - autoware::universe_utils::calcLongitudinalDeviation(base_pose, target_point); - const bool is_ahead = longitudinal_deviation > 0; - return is_ahead; + return autoware::universe_utils::calcLongitudinalDeviation(base_pose, target_point) > 0; } pcl::PointCloud extractObstaclePointsWithinPolygon( @@ -349,8 +345,6 @@ std::vector createPathToPredictionTime( return path_to_prediction_time; } -} // namespace - DynamicObstacleCreatorForObject::DynamicObstacleCreatorForObject( rclcpp::Node & node, std::shared_ptr & debug_ptr, const DynamicObstacleParam & param) : DynamicObstacleCreator(node, debug_ptr, param) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp index c1d59794a30fe..6b4050fe9bfbb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp @@ -40,6 +40,7 @@ #include #include +#include #include namespace autoware::behavior_velocity_planner @@ -171,6 +172,58 @@ class DynamicObstacleCreatorForPoints : public DynamicObstacleCreator pcl::PointCloud obstacle_points_map_filtered_; }; +geometry_msgs::msg::Quaternion createQuaternionFacingToTrajectory( + const PathPointsWithLaneId & path_points, const geometry_msgs::msg::Point & point); + +std::vector createPredictedPath( + const geometry_msgs::msg::Pose & initial_pose, const float time_step, + const float max_velocity_mps, const float max_prediction_time); + +pcl::PointCloud applyVoxelGridFilter( + const pcl::PointCloud & input_points); + +pcl::PointCloud applyVoxelGridFilter( + const sensor_msgs::msg::PointCloud2 & input_points); + +bool isAheadOf( + const geometry_msgs::msg::Point & target_point, const geometry_msgs::msg::Pose & base_pose); + +pcl::PointCloud extractObstaclePointsWithinPolygon( + const pcl::PointCloud & input_points, const Polygons2d & polys); + +std::vector> groupPointsWithNearestSegmentIndex( + const pcl::PointCloud & input_points, const PathPointsWithLaneId & path_points); + +pcl::PointXYZ calculateLateralNearestPoint( + const pcl::PointCloud & input_points, const geometry_msgs::msg::Pose & base_pose); + +pcl::PointCloud selectLateralNearestPoints( + const std::vector> & points_with_index, + const PathPointsWithLaneId & path_points); + +pcl::PointCloud extractLateralNearestPoints( + const pcl::PointCloud & input_points, const PathWithLaneId & path, + const float interval); + +std::optional getTransformMatrix( + const tf2_ros::Buffer & tf_buffer, const std::string & target_frame_id, + const std::string & source_frame_id, const builtin_interfaces::msg::Time & stamp); + +pcl::PointCloud transformPointCloud( + const PointCloud2 & input_pointcloud, const Eigen::Affine3f & transform_matrix); + +PointCloud2 concatPointCloud( + const pcl::PointCloud & cloud1, const pcl::PointCloud & cloud2); + +void calculateMinAndMaxVelFromCovariance( + const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance, + const double std_dev_multiplier, run_out_utils::DynamicObstacle & dynamic_obstacle); + +double convertDurationToDouble(const builtin_interfaces::msg::Duration & duration); + +std::vector createPathToPredictionTime( + const autoware_perception_msgs::msg::PredictedPath & predicted_path, double prediction_time); + } // namespace autoware::behavior_velocity_planner #endif // DYNAMIC_OBSTACLE_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp index 2a8bce46b9006..f294e698ba8c2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp @@ -160,12 +160,12 @@ void RunOutModuleManager::launchNewModules(const tier4_planning_msgs::msg::PathW } std::function &)> -RunOutModuleManager::getModuleExpiredFunction(const tier4_planning_msgs::msg::PathWithLaneId & path) +RunOutModuleManager::getModuleExpiredFunction( + [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path) { - return - [&path]([[maybe_unused]] const std::shared_ptr & scene_module) -> bool { - return false; - }; + return []([[maybe_unused]] const std::shared_ptr & scene_module) -> bool { + return false; + }; } void RunOutModuleManager::setDynamicObstacleCreator( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp index 2196cdec36886..cf3c0fd7e10e1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp @@ -17,6 +17,9 @@ #include namespace autoware::behavior_velocity_planner::run_out_utils { +/** + * This function returns the point with the smallest (signed) longitudinal distance + */ geometry_msgs::msg::Point findLongitudinalNearestPoint( const std::vector & points, const geometry_msgs::msg::Point & src_point, diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp index 5a219f654561a..2296655d700d3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp @@ -50,7 +50,7 @@ RunOutModule::RunOutModule( debug_ptr_(debug_ptr), state_machine_(std::make_unique(planner_param.approaching.state)) { - velocity_factor_.init(PlanningBehavior::UNKNOWN); + velocity_factor_.init(PlanningBehavior::ROUTE_OBSTACLE); if (planner_param.run_out.use_partition_lanelet) { const lanelet::LaneletMapConstPtr & ll = planner_data->route_handler_->getLaneletMapPtr(); @@ -768,6 +768,11 @@ bool RunOutModule::insertStopPoint( stop_point_with_lane_id = path.points.at(nearest_seg_idx); stop_point_with_lane_id.point.pose = *stop_point; planning_utils::insertVelocity(path, stop_point_with_lane_id, 0.0, insert_idx); + + velocity_factor_.set( + path.points, planner_data_->current_odometry->pose, stop_point.value(), VelocityFactor::UNKNOWN, + "run_out"); + return true; } @@ -870,6 +875,9 @@ void RunOutModule::insertApproachingVelocity( return; } + velocity_factor_.set( + output_path.points, current_pose, stop_point.value(), VelocityFactor::UNKNOWN, "run_out"); + // debug debug_ptr_->pushStopPose(autoware::universe_utils::calcOffsetPose( *stop_point, planner_param_.vehicle_param.base_to_front, 0, 0)); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp index 151d2616da5f9..c32d38da2db33 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp @@ -127,11 +127,7 @@ std::vector findLateralSameSidePoints( bool isSamePoint(const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2) { - if (autoware::universe_utils::calcDistance2d(p1, p2) < std::numeric_limits::epsilon()) { - return true; - } - - return false; + return (autoware::universe_utils::calcDistance2d(p1, p2) < std::numeric_limits::epsilon()); } // insert path velocity which doesn't exceed original velocity @@ -230,7 +226,7 @@ PathPointsWithLaneId decimatePathPoints( const PathPointsWithLaneId & input_path_points, const float step) { if (input_path_points.empty()) { - return PathPointsWithLaneId(); + return {}; } float dist_sum = 0.0; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp index af6d9a7bc631b..1f948cc7faaa1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp @@ -255,7 +255,8 @@ std::optional> createDetectionAreaPolygon // extend path to the pose of goal PathWithLaneId extendPath(const PathWithLaneId & input, const double extend_distance); -PathPoint createExtendPathPoint(const double extend_distance, const PathPoint & goal_point); +PathPointWithLaneId createExtendPathPoint( + const double extend_distance, const PathPointWithLaneId & goal_point); DetectionMethod toEnum(const std::string & detection_method); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_dynamic_obstacle.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_dynamic_obstacle.cpp new file mode 100644 index 0000000000000..e6a838c77fb37 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_dynamic_obstacle.cpp @@ -0,0 +1,404 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "debug.hpp" +#include "dynamic_obstacle.hpp" +#include "path_utils.hpp" +#include "scene.hpp" +#include "utils.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +using autoware::universe_utils::Point2d; +using autoware::universe_utils::Polygon2d; +using autoware_perception_msgs::msg::ObjectClassification; +using geometry_msgs::msg::Point; +using Polygons2d = std::vector; + +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; +using PathPointsWithLaneId = std::vector; + +using autoware::behavior_velocity_planner::applyVoxelGridFilter; +using autoware::behavior_velocity_planner::createPredictedPath; +using autoware::behavior_velocity_planner::createQuaternionFacingToTrajectory; +using autoware::behavior_velocity_planner::extractLateralNearestPoints; +using autoware::behavior_velocity_planner::extractObstaclePointsWithinPolygon; +using autoware::behavior_velocity_planner::groupPointsWithNearestSegmentIndex; + +using autoware::behavior_velocity_planner::calculateLateralNearestPoint; +using autoware::behavior_velocity_planner::calculateMinAndMaxVelFromCovariance; +using autoware::behavior_velocity_planner::concatPointCloud; +using autoware::behavior_velocity_planner::convertDurationToDouble; +using autoware::behavior_velocity_planner::createPathToPredictionTime; +using autoware::behavior_velocity_planner::DynamicObstacle; +using autoware::behavior_velocity_planner::DynamicObstacleCreatorForObject; +using autoware::behavior_velocity_planner::DynamicObstacleCreatorForObjectWithoutPath; +using autoware::behavior_velocity_planner::DynamicObstacleCreatorForPoints; +using autoware::behavior_velocity_planner::DynamicObstacleParam; +using autoware::behavior_velocity_planner::isAheadOf; +using autoware::behavior_velocity_planner::PointCloud2; +using autoware::behavior_velocity_planner::RunOutDebug; +using autoware::behavior_velocity_planner::selectLateralNearestPoints; +using autoware::behavior_velocity_planner::transformPointCloud; +using autoware::behavior_velocity_planner::run_out_utils::createExtendPathPoint; + +class TestDynamicObstacleMethods : public ::testing::Test +{ + void SetUp() override {} +}; + +class TestDynamicObstacle : public ::testing::Test +{ + void SetUp() override { init_param(); } + + void init_param() + { + auto node_options = rclcpp::NodeOptions{}; + node_ptr_ = std::make_shared(name_, node_options); + debug_ptr_ = std::make_shared(*node_ptr_); + object_creator_for_points_ = + std::make_shared(*node_ptr_, debug_ptr_, param_); + object_creator_for_objects_ = + std::make_shared(*node_ptr_, debug_ptr_, param_); + object_creator_for_objects_without_path_ = + std::make_shared(*node_ptr_, debug_ptr_, param_); + } + std::string name_{"test_dynamic_obstacle_creators"}; + + std::shared_ptr object_creator_for_points_; + std::shared_ptr object_creator_for_objects_; + std::shared_ptr + object_creator_for_objects_without_path_; + DynamicObstacleParam param_; + std::shared_ptr debug_ptr_; + std::shared_ptr node_ptr_; +}; + +pcl::PointCloud generate_pointcloud( + const size_t number_points_in_axis, const double resolution) +{ + pcl::PointCloud point_cloud; + for (size_t i = 0; i < number_points_in_axis; ++i) { + for (size_t j = 0; j < number_points_in_axis; ++j) { + for (size_t k = 0; k < number_points_in_axis; ++k) { + pcl::PointXYZ p; + p.x = i * resolution; + p.y = j * resolution; + p.z = k * resolution; + point_cloud.push_back(p); + } + } + } + return point_cloud; +}; + +TEST_F(TestDynamicObstacleMethods, testCreateQuaternionFacingToTrajectory) +{ + constexpr size_t n_path_points{10}; + PathPointsWithLaneId path; + PathPointWithLaneId base_point; + for (size_t i = 0; i < n_path_points; ++i) { + const PathPointWithLaneId p = createExtendPathPoint(static_cast(i), base_point); + path.push_back(p); + } + + /* + path + | ^ x + | | + | y | + | <------- ref frame + | + | + (2.0,0.0) |<------0 (2.0,-2.0) point + | ^ + | | + | 90 deg yaw + */ + + { + geometry_msgs::msg::Point point; + point.x = 2.0; + point.y = -2.0; + + const auto quaternion_facing_traj = createQuaternionFacingToTrajectory(path, point); + const auto rpy = autoware::universe_utils::getRPY(quaternion_facing_traj); + const auto yaw = autoware::universe_utils::normalizeRadian(rpy.z); + EXPECT_DOUBLE_EQ(yaw, M_PI_2); + geometry_msgs::msg::Pose geom_base_point; + geom_base_point.position = base_point.point.pose.position; + EXPECT_TRUE(isAheadOf(point, geom_base_point)); + } + + { + geometry_msgs::msg::Point point; + point.x = 2.75; // path resolution is 1.0, this makes sure the point is "behind" the closest + // point on the path. + point.y = -0.25; + + const auto quaternion_facing_traj = createQuaternionFacingToTrajectory(path, point); + const auto rpy = autoware::universe_utils::getRPY(quaternion_facing_traj); + const auto yaw = autoware::universe_utils::normalizeRadian(rpy.z); + EXPECT_DOUBLE_EQ(std::abs(yaw), M_PI_2); + geometry_msgs::msg::Pose geom_base_point; + geom_base_point.position = base_point.point.pose.position; + EXPECT_TRUE(isAheadOf(point, geom_base_point)); + } +} + +TEST_F(TestDynamicObstacleMethods, testCreatePredictedPath) +{ + using autoware::behavior_velocity_planner::run_out_utils::isSamePoint; + + constexpr float time_step{0.1}; + constexpr float max_velocity_mps{3.0}; + constexpr float max_prediction_time{5.0}; + geometry_msgs::msg::Pose initial_pose; + + const auto traj = + createPredictedPath(initial_pose, time_step, max_velocity_mps, max_prediction_time); + EXPECT_EQ(traj.size(), static_cast(max_prediction_time / time_step)); + auto last_pose = traj.back(); + geometry_msgs::msg::Point expected_point; + expected_point.x = max_prediction_time * max_velocity_mps - time_step * max_velocity_mps; + EXPECT_TRUE(std::abs(expected_point.x - last_pose.position.x) < 1e-3); +} + +TEST_F(TestDynamicObstacleMethods, testApplyVoxelGridFilter) +{ + pcl::PointCloud point_cloud = generate_pointcloud(10, 0.025); + + { + auto filtered_point_cloud = applyVoxelGridFilter(point_cloud); + EXPECT_FALSE(filtered_point_cloud.empty()); + EXPECT_TRUE(filtered_point_cloud.size() < point_cloud.size()); + const bool points_have_no_height = std::all_of( + filtered_point_cloud.begin(), filtered_point_cloud.end(), + [](const auto & p) { return std::abs(p.z) < std::numeric_limits::epsilon(); }); + EXPECT_TRUE(points_have_no_height); + + Polygons2d polys; + const auto empty_cloud = extractObstaclePointsWithinPolygon(filtered_point_cloud, polys); + EXPECT_TRUE(empty_cloud.empty()); + + Polygon2d poly; + Point2d p1; + p1.x() = 1.0; + p1.y() = 0.0; + + Point2d p2; + p2.x() = -1.0; + p2.y() = 2.0; + + Point2d p3; + p3.x() = -1.0; + p3.y() = -2.0; + poly.outer().push_back(p1); + poly.outer().push_back(p2); + poly.outer().push_back(p3); + poly.outer().push_back(p1); + polys.push_back(poly); + const auto all_points_in_cloud = + extractObstaclePointsWithinPolygon(filtered_point_cloud, polys); + EXPECT_FALSE(all_points_in_cloud.empty()); + EXPECT_EQ(all_points_in_cloud.size(), filtered_point_cloud.size()); + } + + sensor_msgs::msg::PointCloud2 ros_pointcloud; + pcl::toROSMsg(point_cloud, ros_pointcloud); + + { + auto filtered_point_cloud = applyVoxelGridFilter(ros_pointcloud); + EXPECT_FALSE(filtered_point_cloud.empty()); + EXPECT_TRUE(filtered_point_cloud.size() < point_cloud.size()); + const bool points_have_no_height = std::all_of( + filtered_point_cloud.begin(), filtered_point_cloud.end(), + [](const auto & p) { return std::abs(p.z) < std::numeric_limits::epsilon(); }); + EXPECT_TRUE(points_have_no_height); + } +} + +TEST_F(TestDynamicObstacleMethods, testGroupPointsWithNearestSegmentIndex) +{ + constexpr size_t n_points{10}; + constexpr double points_resolution{0.025}; + + pcl::PointCloud point_cloud = generate_pointcloud(n_points, points_resolution); + constexpr size_t n_path_points{10}; + PathPointsWithLaneId path; + PathPointWithLaneId base_point; + for (size_t i = 0; i < n_path_points; ++i) { + const PathPointWithLaneId p = createExtendPathPoint(static_cast(i), base_point); + path.push_back(p); + } + const auto grouped_points = groupPointsWithNearestSegmentIndex(point_cloud, path); + EXPECT_FALSE(grouped_points.empty()); + EXPECT_EQ(grouped_points.size(), path.size()); + // first point in path is the closest to all points + EXPECT_EQ(grouped_points.at(0).size(), point_cloud.size()); +} + +TEST_F(TestDynamicObstacleMethods, testCalculateLateralNearestPoint) +{ + constexpr size_t n_points{10}; + constexpr double points_resolution{1.0}; + + pcl::PointCloud point_cloud = generate_pointcloud(n_points, points_resolution); + geometry_msgs::msg::Pose base_pose; + base_pose.position.y = 10.0; + auto nearest_point = calculateLateralNearestPoint(point_cloud, base_pose); + EXPECT_DOUBLE_EQ(nearest_point.y, (n_points - 1) * points_resolution); + + PathPointsWithLaneId path; + PathPointWithLaneId base_point; + constexpr size_t n_path_points{10}; + for (size_t i = 0; i < n_path_points; ++i) { + const PathPointWithLaneId p = createExtendPathPoint(static_cast(i), base_point); + path.push_back(p); + } + + const auto grouped_points = groupPointsWithNearestSegmentIndex(point_cloud, path); + auto lateral_nearest_points = selectLateralNearestPoints(grouped_points, path); + EXPECT_FALSE(grouped_points.empty()); + EXPECT_EQ(grouped_points.size(), path.size()); + EXPECT_TRUE(lateral_nearest_points.size() <= n_path_points); + for (size_t i = 0; i < lateral_nearest_points.size(); ++i) { + const auto p = path.at(i); + const auto curr_nearest_point = lateral_nearest_points.at(i); + auto deviation = std::abs(autoware::universe_utils::calcLateralDeviation( + p.point.pose, + autoware::universe_utils::createPoint(curr_nearest_point.x, curr_nearest_point.y, 0))); + EXPECT_DOUBLE_EQ(deviation, 0.0); + } + + constexpr double interval{1.0}; + const auto path_with_lane_id = + autoware::test_utils::generateTrajectory(n_path_points, interval); + { + const auto interp_lateral_nearest_points = + extractLateralNearestPoints(point_cloud, path_with_lane_id, interval / 4.0); + EXPECT_EQ(interp_lateral_nearest_points.size(), path_with_lane_id.points.size()); + } + + { + const auto interp_lateral_nearest_points = + extractLateralNearestPoints(point_cloud, path_with_lane_id, interval * 2.0); + EXPECT_EQ(interp_lateral_nearest_points.size(), path_with_lane_id.points.size() / 2); + } +} + +TEST_F(TestDynamicObstacleMethods, testConcatPointCloud) +{ + constexpr size_t n_points{10}; + constexpr double points_resolution{0.025}; + + pcl::PointCloud point_cloud_1 = generate_pointcloud(n_points, points_resolution); + pcl::PointCloud point_cloud_2 = + generate_pointcloud(n_points * 2, points_resolution * 2.0); + auto point_cloud_concat = concatPointCloud(point_cloud_1, point_cloud_2); + // the pcl method used by this function generates a pointcloud that has a way bigger size than + // just the sum of both point clouds + EXPECT_TRUE(point_cloud_concat.data.size() >= point_cloud_1.size() + point_cloud_2.size()); + + Eigen::Matrix3f R; + R = Eigen::Matrix3f::Identity(); + Eigen::Vector3f T; + T.setOnes(); + Eigen::Matrix4f transform; // Your Transformation Matrix + transform.setIdentity(); // Set to Identity to make bottom row of Matrix 0,0,0,1 + transform.block<3, 3>(0, 0) = R; + transform.block<3, 1>(0, 3) = T; + + Eigen::Affine3f m; + m.matrix() = transform; + + PointCloud2 ros_pointcloud; + pcl::toROSMsg(point_cloud_1, ros_pointcloud); + + auto transformed_pointcloud = transformPointCloud(ros_pointcloud, m); + EXPECT_TRUE(transformed_pointcloud.at(0).x > T.x() - std::numeric_limits::epsilon()); + EXPECT_TRUE(transformed_pointcloud.at(0).y > T.y() - std::numeric_limits::epsilon()); + EXPECT_TRUE(transformed_pointcloud.at(0).z > T.z() - std::numeric_limits::epsilon()); +} + +TEST_F(TestDynamicObstacleMethods, testCalculateMinAndMaxVelFromCovariance) +{ + geometry_msgs::msg::TwistWithCovariance twist; + twist.covariance[0] = 1.0; + twist.covariance[7] = 1.0; + twist.twist.linear.x = 1.0; + twist.twist.linear.y = 1.0; + + constexpr double std_dev_multiplier{1.0}; + DynamicObstacle dynamic_obstacle; + calculateMinAndMaxVelFromCovariance(twist, std_dev_multiplier, dynamic_obstacle); + EXPECT_TRUE(std::abs(dynamic_obstacle.max_velocity_mps - std::hypot(2.0, 2.0)) < 1e-3); + EXPECT_DOUBLE_EQ(dynamic_obstacle.min_velocity_mps, std::hypot(0.0, 0.0)); +} + +TEST_F(TestDynamicObstacleMethods, testCreatePathToPredictionTime) +{ + autoware_perception_msgs::msg::PredictedPath predicted_path; + constexpr double prediction_time{5.0}; + predicted_path.time_step = rclcpp::Duration(0.0, 100000000.0); + + geometry_msgs::msg::Pose initial_pose; + + constexpr double max_velocity_mps = 1.0; + constexpr double max_prediction_time = 2.0 * prediction_time; + const double time_step = convertDurationToDouble(predicted_path.time_step); + + const auto traj = + createPredictedPath(initial_pose, time_step, max_velocity_mps, max_prediction_time); + predicted_path.path = traj; + + { + auto path_to_prediction_time = createPathToPredictionTime(predicted_path, 0.0); + EXPECT_EQ(0, path_to_prediction_time.size()); + } + + { + auto path_to_prediction_time = createPathToPredictionTime(predicted_path, prediction_time); + EXPECT_EQ(predicted_path.path.size() / 2, path_to_prediction_time.size()); + EXPECT_TRUE( + std::abs(path_to_prediction_time.back().position.x - prediction_time * max_velocity_mps) < + time_step * max_velocity_mps + std::numeric_limits::epsilon()); + } +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_path_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_path_utils.cpp new file mode 100644 index 0000000000000..eb8502f043b22 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_path_utils.cpp @@ -0,0 +1,71 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "path_utils.hpp" + +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include + +using autoware::behavior_velocity_planner::run_out_utils::findLongitudinalNearestPoint; +using geometry_msgs::msg::Point; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; + +class TestPathUtils : public ::testing::Test +{ + void SetUp() override {} +}; + +TEST_F(TestPathUtils, testFindLongitudinalNearestPoint) +{ + const auto path = + autoware::test_utils::generateTrajectory(10, 1.0, 1.0, 0.0, 0.0); + const auto p_src = path.points.front(); + const auto p_dst = path.points.back(); + const auto p_med = path.points.at(path.points.size() / 2); + + const auto geom_p_src = autoware::universe_utils::createPoint( + p_src.point.pose.position.x, p_src.point.pose.position.y, p_src.point.pose.position.z); + const auto geom_p_dst = autoware::universe_utils::createPoint( + p_dst.point.pose.position.x, p_dst.point.pose.position.y, p_dst.point.pose.position.z); + const auto geom_p_med = autoware::universe_utils::createPoint( + p_med.point.pose.position.x, p_med.point.pose.position.y, p_med.point.pose.position.z); + std::vector dst_points{geom_p_src, geom_p_dst, geom_p_med}; + const auto closest_point_src = findLongitudinalNearestPoint(path.points, geom_p_src, dst_points); + const auto closest_point_dst = findLongitudinalNearestPoint(path.points, geom_p_dst, dst_points); + const auto closest_point_med = findLongitudinalNearestPoint(path.points, geom_p_med, dst_points); + + EXPECT_DOUBLE_EQ( + autoware::universe_utils::calcDistance3d(closest_point_src, geom_p_src), + autoware::universe_utils::calcDistance3d(geom_p_src, geom_p_src)); + EXPECT_DOUBLE_EQ( + autoware::universe_utils::calcDistance3d(closest_point_dst, geom_p_dst), + autoware::universe_utils::calcDistance3d(geom_p_src, geom_p_dst)); + EXPECT_DOUBLE_EQ( + autoware::universe_utils::calcDistance3d(closest_point_med, geom_p_med), + autoware::universe_utils::calcDistance3d(geom_p_src, geom_p_med)); +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_state_machine.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_state_machine.cpp new file mode 100644 index 0000000000000..d39436baa7dea --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_state_machine.cpp @@ -0,0 +1,107 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "dynamic_obstacle.hpp" +#include "state_machine.hpp" +#include "utils.hpp" + +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include + +using autoware::behavior_velocity_planner::DynamicObstacle; +using autoware::behavior_velocity_planner::run_out_utils::StateMachine; +using autoware::behavior_velocity_planner::run_out_utils::StateParam; + +using geometry_msgs::msg::Point; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; + +class TestStateMachine : public ::testing::Test +{ + void SetUp() override + { + StateParam state_params; + state_params.stop_thresh = stop_thresh_; + state_params.stop_time_thresh = stop_time_thresh_; + state_params.disable_approach_dist = disable_approach_dist_; + state_params.keep_approach_duration = keep_approach_duration_; + state_machine_ptr_ = std::make_shared(state_params); + } + +public: + std::shared_ptr state_machine_ptr_; + float stop_thresh_{2.0}; + float stop_time_thresh_{1.0}; + float keep_approach_duration_{1.0}; + float disable_approach_dist_{1.0}; +}; + +TEST_F(TestStateMachine, testToString) +{ + using State = autoware::behavior_velocity_planner::run_out_utils::StateMachine::State; + State state = state_machine_ptr_->getCurrentState(); + + auto state_string = state_machine_ptr_->toString(state); + EXPECT_EQ(state_string, "GO"); + + state = State::STOP; + state_string = state_machine_ptr_->toString(state); + EXPECT_EQ(state_string, "STOP"); + + state = State::APPROACH; + state_string = state_machine_ptr_->toString(state); + EXPECT_EQ(state_string, "APPROACH"); + + state = State::UNKNOWN; + state_string = state_machine_ptr_->toString(state); + EXPECT_EQ(state_string, "UNKNOWN"); +} + +TEST_F(TestStateMachine, testUpdateState) +{ + rclcpp::init(0, nullptr); + using State = autoware::behavior_velocity_planner::run_out_utils::StateMachine::State; + using StateInput = autoware::behavior_velocity_planner::run_out_utils::StateMachine::StateInput; + constexpr float dist_to_collision{10.0}; + StateInput state_input{stop_thresh_ / 2.0, dist_to_collision, {}}; + state_input.current_obstacle = DynamicObstacle(); + rclcpp::Clock clock(RCL_ROS_TIME); + + EXPECT_TRUE(state_machine_ptr_->getCurrentState() == State::GO); + + // current velocity < stop_threshold. GO -> STOP + state_machine_ptr_->updateState(state_input, clock); + EXPECT_TRUE(state_machine_ptr_->getCurrentState() == State::STOP); + + // if STOP state continues for a certain time, transit to APPROACH state + const int sleep_time = static_cast(stop_time_thresh_) + 1; + std::this_thread::sleep_for(std::chrono::seconds(sleep_time)); + state_machine_ptr_->updateState(state_input, clock); + EXPECT_TRUE(state_machine_ptr_->getCurrentState() == State::APPROACH); + rclcpp::shutdown(); +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_utils.cpp new file mode 100644 index 0000000000000..c523dd0a53a71 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_utils.cpp @@ -0,0 +1,302 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "dynamic_obstacle.hpp" +#include "path_utils.hpp" +#include "utils.hpp" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +using autoware::behavior_velocity_planner::DynamicObstacle; +using autoware::behavior_velocity_planner::run_out_utils::createBoostPolyFromMsg; +using autoware::behavior_velocity_planner::run_out_utils::createExtendPathPoint; +using autoware::behavior_velocity_planner::run_out_utils::decimatePathPoints; +using autoware::behavior_velocity_planner::run_out_utils::DetectionMethod; +using autoware::behavior_velocity_planner::run_out_utils::findFirstStopPointIdx; +using autoware::behavior_velocity_planner::run_out_utils::findLateralSameSidePoints; +using autoware::behavior_velocity_planner::run_out_utils::getHighestConfidencePath; +using autoware::behavior_velocity_planner::run_out_utils::getHighestProbLabel; +using autoware::behavior_velocity_planner::run_out_utils::insertPathVelocityFromIndex; +using autoware::behavior_velocity_planner::run_out_utils::insertPathVelocityFromIndexLimited; +using autoware::behavior_velocity_planner::run_out_utils::isSamePoint; +using autoware::behavior_velocity_planner::run_out_utils::lerpByPose; +using autoware::behavior_velocity_planner::run_out_utils::pathIntersectsEgoCutLine; +using autoware::behavior_velocity_planner::run_out_utils::PathPointsWithLaneId; +using autoware::behavior_velocity_planner::run_out_utils::PredictedPath; +using autoware::behavior_velocity_planner::run_out_utils::toEnum; +using autoware::behavior_velocity_planner::run_out_utils::trimPathFromSelfPose; + +using autoware_perception_msgs::msg::ObjectClassification; +using geometry_msgs::msg::Point; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; + +class TestRunOutUtils : public ::testing::Test +{ + void SetUp() override {} +}; + +TEST_F(TestRunOutUtils, testFindLongitudinalNearestPoint) +{ + std::vector poly; + poly.push_back(autoware::universe_utils::createPoint(0.0, 1.0, 0.0)); + poly.push_back(autoware::universe_utils::createPoint(0.0, -1.0, 0.0)); + poly.push_back(autoware::universe_utils::createPoint(1.0, 1.0, 0.0)); + poly.push_back(autoware::universe_utils::createPoint(1.0, 0.0, 0.0)); + + const auto boost_poly = createBoostPolyFromMsg(poly); + EXPECT_FALSE(boost_poly.outer().empty()); + EXPECT_EQ(boost_poly.outer().size(), poly.size() + 1); +} + +TEST_F(TestRunOutUtils, testGetHighestProbLabel) +{ + ObjectClassification classification_1; + classification_1.label = ObjectClassification::BICYCLE; + classification_1.probability = 0.7; + + ObjectClassification classification_2; + classification_2.label = ObjectClassification::MOTORCYCLE; + classification_2.probability = 0.1; + + ObjectClassification classification_3; + classification_3.label = ObjectClassification::TRUCK; + classification_3.probability = 0.2; + + std::vector classifications{ + classification_1, classification_2, classification_3}; + const auto classification = getHighestProbLabel(classifications); + + EXPECT_EQ(classification, classification_1.label); +} + +TEST_F(TestRunOutUtils, testGetHighestConfidencePath) +{ + std::vector predicted_paths{}; + const auto empty_path = getHighestConfidencePath(predicted_paths); + EXPECT_TRUE(empty_path.empty()); + geometry_msgs::msg::Pose p1; + p1.position.x = 1.0; + + geometry_msgs::msg::Pose p2; + p2.position.x = 2.0; + + PredictedPath predicted_path_1{}; + predicted_path_1.path = {p1}; + predicted_path_1.confidence = 0.85; + + PredictedPath predicted_path_2{}; + predicted_path_2.path = {p2}; + predicted_path_2.confidence = 0.15; + + predicted_paths.push_back(predicted_path_1); + predicted_paths.push_back(predicted_path_2); + + const auto high_confidence_path = getHighestConfidencePath(predicted_paths); + const auto path_point = high_confidence_path.front(); + EXPECT_TRUE(isSamePoint(path_point.position, p1.position)); +} + +TEST_F(TestRunOutUtils, testLerpByPose) +{ + geometry_msgs::msg::Pose p1; + p1.position.x = 1.0; + geometry_msgs::msg::Pose p2; + p2.position.x = 2.0; + const auto p3 = lerpByPose(p1, p2, 0.5); + EXPECT_DOUBLE_EQ(1.5, p3.position.x); +} + +TEST_F(TestRunOutUtils, testFindLateralSameSidePoints) +{ + std::vector points; + for (size_t i = 0; i < 10; ++i) { + geometry_msgs::msg::Point p; + p.x = static_cast(i); + p.y = 0.0; + points.push_back(p); + } + + { + geometry_msgs::msg::Pose base_pose; + base_pose.position.x = 1.0; + base_pose.position.y = -1.0; + + geometry_msgs::msg::Point target_pose; + target_pose.x = 2.0; + target_pose.y = 2.0; + const auto same_points = findLateralSameSidePoints(points, base_pose, target_pose); + EXPECT_EQ(same_points.size(), points.size()); + } + + { + geometry_msgs::msg::Pose base_pose; + base_pose.position.x = 1.0; + base_pose.position.y = 1.0; + + geometry_msgs::msg::Point target_pose; + target_pose.x = 2.0; + target_pose.y = 2.0; + + const auto same_points = findLateralSameSidePoints(points, base_pose, target_pose); + EXPECT_FALSE(same_points.empty()); + } +} + +TEST_F(TestRunOutUtils, testInsertPathVelocity) +{ + constexpr double path_velocity = 2.0; + constexpr size_t n_path_points = 100; + + PathPointWithLaneId p; + p.point.longitudinal_velocity_mps = path_velocity; + PathPointsWithLaneId path(n_path_points, p); + + const size_t middle_index = path.size() / 2; + + constexpr double high_velocity = 2.0 * path_velocity; + insertPathVelocityFromIndexLimited(middle_index, high_velocity, path); + const auto middle_itr = path.begin() + path.size() / 2; + const bool is_velocity_not_modified = + std::all_of(middle_itr, path.end(), [path_velocity](const auto & v) { + return std::abs(v.point.longitudinal_velocity_mps - path_velocity) < + std::numeric_limits::epsilon(); + }); + EXPECT_TRUE(is_velocity_not_modified); + + constexpr double low_velocity = 0.5 * path_velocity; + insertPathVelocityFromIndexLimited(middle_index, low_velocity, path); + const bool is_velocity_modified = + std::all_of(middle_itr, path.end(), [low_velocity](const auto & v) { + return std::abs(v.point.longitudinal_velocity_mps - low_velocity) < + std::numeric_limits::epsilon(); + }); + EXPECT_TRUE(is_velocity_modified); + + insertPathVelocityFromIndex(0, high_velocity, path); + const bool all_velocities_modified = + std::all_of(path.begin(), path.end(), [high_velocity](const auto & v) { + return std::abs(v.point.longitudinal_velocity_mps - high_velocity) < + std::numeric_limits::epsilon(); + }); + EXPECT_TRUE(all_velocities_modified); + + auto first_stop_point = findFirstStopPointIdx(path); + EXPECT_FALSE(first_stop_point.has_value()); + insertPathVelocityFromIndex(middle_index, 0.0, path); + first_stop_point = findFirstStopPointIdx(path); + EXPECT_TRUE(first_stop_point.has_value()); + EXPECT_EQ(middle_index, first_stop_point.value()); +} + +TEST_F(TestRunOutUtils, testPathIntersectsEgoCutLine) +{ + std::vector poses; + geometry_msgs::msg::Pose ego_pose; + constexpr double half_line_length = 2.0; + std::vector ego_cut_line; + EXPECT_FALSE(pathIntersectsEgoCutLine(poses, ego_pose, half_line_length, ego_cut_line)); + for (size_t i = 0; i < 10; ++i) { + geometry_msgs::msg::Pose p; + p.position.x = static_cast(i) - 5.0; + p.position.y = 0.5; + poses.push_back(p); + } + + EXPECT_TRUE(pathIntersectsEgoCutLine(poses, ego_pose, half_line_length, ego_cut_line)); + ego_pose.position.y = 3.0; + EXPECT_FALSE(pathIntersectsEgoCutLine(poses, ego_pose, half_line_length, ego_cut_line)); +} + +TEST_F(TestRunOutUtils, testExcludeObstaclesOutSideOfLine) +{ + constexpr size_t n_path_points{100}; + + PathPointsWithLaneId path; + + PathPointWithLaneId base_point; + + for (size_t i = 0; i < n_path_points; ++i) { + const PathPointWithLaneId p = createExtendPathPoint(static_cast(i) / 10.0, base_point); + path.push_back(p); + } + + path = decimatePathPoints(path, 1.0); + EXPECT_EQ(path.size(), n_path_points / 10); + + lanelet::BasicPolygon2d partition; + partition.emplace_back(1.0, 1.0); + partition.emplace_back(2.0, 1.0); + partition.emplace_back(3.0, 1.0); + partition.emplace_back(4.0, 1.0); + + constexpr double long_position{2.0}; + constexpr double lat_position_of_excluded_obstacle{2.0}; + constexpr double lat_position_of_included_obstacle{-2.0}; + + DynamicObstacle obstacle_1; + obstacle_1.pose.position.x = long_position; + obstacle_1.pose.position.y = lat_position_of_included_obstacle; + + DynamicObstacle obstacle_2; + obstacle_2.pose.position.x = long_position; + obstacle_2.pose.position.y = lat_position_of_excluded_obstacle; + std::vector obstacles{obstacle_1, obstacle_2}; + + const auto filtered_obstacles = excludeObstaclesOutSideOfLine(obstacles, path, partition); + + EXPECT_EQ(filtered_obstacles.size(), 1); + EXPECT_DOUBLE_EQ(filtered_obstacles.front().pose.position.y, lat_position_of_included_obstacle); +} + +TEST_F(TestRunOutUtils, testTrimPathFromSelfPose) +{ + constexpr double point_interval{1e-2}; + const auto path = + autoware::test_utils::generateTrajectory(1000, point_interval, 1.0, 0.0, 0.0); + + geometry_msgs::msg::Pose self_pose; + constexpr double trim_distance{10.0}; + + const auto trimmed_path = trimPathFromSelfPose(path, self_pose, trim_distance); + const auto path_length = autoware::motion_utils::calcArcLength(path.points); + EXPECT_TRUE( + path_length - trim_distance < point_interval + std::numeric_limits::epsilon()); +} + +TEST_F(TestRunOutUtils, testToEnum) +{ + EXPECT_EQ(toEnum("Object"), DetectionMethod::Object); + EXPECT_EQ(toEnum("ObjectWithoutPath"), DetectionMethod::ObjectWithoutPath); + EXPECT_EQ(toEnum("Points"), DetectionMethod::Points); + EXPECT_EQ(toEnum("Autoware"), DetectionMethod::Unknown); +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst index 7beadcdc6cf67..dda59c346fd20 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_behavior_velocity_speed_bump_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8319 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8319 `_) fix:uninitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds warning (`#7671 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds warning (`#7671 `_) fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds -* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst index 487ac65735b33..4bfe8d3d74a06 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_behavior_velocity_stop_line_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_stop_line_module): fix uninitMemberVar (`#8318 `_) +* fix(autoware_behavior_velocity_stop_line_module): fix uninitMemberVar (`#8318 `_) fix:uninitMemberVar -* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index 464a5d0f09bf7..68a8d919512b1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -23,6 +23,7 @@ autoware_motion_utils autoware_planning_msgs autoware_route_handler + autoware_trajectory eigen geometry_msgs pluginlib diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp index 29295f41cdf04..573a260138679 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" +#include "autoware/motion_utils/marker/virtual_wall_marker_creator.hpp" +#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/ros/marker_helper.hpp" #include "scene.hpp" -#include -#include -#include -#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp index 4dcd0309ce526..ffdcea16b45b5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp @@ -15,6 +15,7 @@ #include "manager.hpp" #include "autoware/universe_utils/ros/parameter.hpp" +#include "autoware_lanelet2_extension/utility/query.hpp" #include #include @@ -57,7 +58,7 @@ std::vector StopLineModuleManager::getStopLinesWithLaneIdOnP } for (const auto & stop_line : traffic_sign_reg_elem->refLines()) { - stop_lines_with_lane_id.push_back(std::make_pair(stop_line, lane_id)); + stop_lines_with_lane_id.emplace_back(stop_line, lane_id); } } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp index 2a008ce1700ab..b83a4f94e9a1f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp @@ -15,11 +15,11 @@ #ifndef MANAGER_HPP_ #define MANAGER_HPP_ +#include "autoware/behavior_velocity_planner_common/plugin_interface.hpp" +#include "autoware/behavior_velocity_planner_common/plugin_wrapper.hpp" +#include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp" #include "scene.hpp" -#include -#include -#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 50b85613ef08f..6a4b85cd6926c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -14,60 +14,66 @@ #include "scene.hpp" -#include -#include -#include -#include +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" +#include "autoware/trajectory/path_point_with_lane_id.hpp" -#include -#include +#include namespace autoware::behavior_velocity_planner { -namespace bg = boost::geometry; StopLineModule::StopLineModule( - const int64_t module_id, const size_t lane_id, const lanelet::ConstLineString3d & stop_line, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const int64_t module_id, const size_t lane_id, lanelet::ConstLineString3d stop_line, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id), - stop_line_(stop_line), + stop_line_(std::move(stop_line)), state_(State::APPROACH), + planner_param_(planner_param), debug_data_() { velocity_factor_.init(PlanningBehavior::STOP_SIGN); - planner_param_ = planner_param; } bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) { - universe_utils::ScopedTimeTrack st( - std::string(__func__) + " (lane_id:=" + std::to_string(module_id_) + ")", *getTimeKeeper()); + auto trajectory = + trajectory::Trajectory::Builder{}.build( + path->points); + + if (!trajectory) { + return true; + } + debug_data_ = DebugData(); - if (path->points.empty()) return true; - const auto base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; + const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; debug_data_.base_link2front = base_link2front; - first_stop_path_point_index_ = static_cast(path->points.size()) - 1; + first_stop_path_point_distance_ = trajectory->length(); *stop_reason = planning_utils::initializeStopReason(StopReason::STOP_LINE); const LineString2d stop_line = planning_utils::extendLine( stop_line_[0], stop_line_[1], planner_data_->stop_line_extend_length); - time_keeper_->start_track("createTargetPoint"); - // Calculate stop pose and insert index - const auto stop_point = arc_lane_utils::createTargetPoint( - *path, stop_line, planner_param_.stop_margin, - planner_data_->vehicle_info_.max_longitudinal_offset_m); - time_keeper_->end_track("createTargetPoint"); + // Calculate intersection with stop line + const auto trajectory_stop_line_intersection = + trajectory->crossed(stop_line.front(), stop_line.back()); + // If no collision found, do nothing - if (!stop_point) { + if (!trajectory_stop_line_intersection) { RCLCPP_DEBUG_THROTTLE(logger_, *clock_, 5000 /* ms */, "is no collision"); return true; } - const auto stop_point_idx = stop_point->first; - auto stop_pose = stop_point->second; + const double stop_point_s = + *trajectory_stop_line_intersection - + (base_link2front + planner_param_.stop_margin); // consider vehicle length and stop margin + + if (stop_point_s < 0.0) { + return true; + } + + const auto stop_pose = trajectory->compute(stop_point_s); /** * @brief : calculate signed arc length consider stop margin from stop line @@ -75,34 +81,26 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop * |----------------------------| * s---ego----------x--|--------g */ - time_keeper_->start_track( - "calcSegmentIndexFromPointIndex & findEgoSegmentIndex & calcSignedArcLength"); - const size_t stop_line_seg_idx = planning_utils::calcSegmentIndexFromPointIndex( - path->points, stop_pose.position, stop_point_idx); - const size_t current_seg_idx = findEgoSegmentIndex(path->points); - const double signed_arc_dist_to_stop_point = autoware::motion_utils::calcSignedArcLength( - path->points, planner_data_->current_odometry->pose.position, current_seg_idx, - stop_pose.position, stop_line_seg_idx); - time_keeper_->end_track( - "calcSegmentIndexFromPointIndex & findEgoSegmentIndex & calcSignedArcLength"); + const double ego_on_trajectory_s = + trajectory->closest(planner_data_->current_odometry->pose.position); + const double signed_arc_dist_to_stop_point = stop_point_s - ego_on_trajectory_s; + switch (state_) { case State::APPROACH: { // Insert stop pose - planning_utils::insertStopPoint(stop_pose.position, stop_line_seg_idx, *path); + trajectory->longitudinal_velocity_mps.range(stop_point_s, trajectory->length()).set(0.0); - // Update first stop index - first_stop_path_point_index_ = static_cast(stop_point_idx); - debug_data_.stop_pose = stop_pose; + // Update first stop path point distance + first_stop_path_point_distance_ = stop_point_s; + debug_data_.stop_pose = stop_pose.point.pose; // Get stop point and stop factor { tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = stop_pose; + stop_factor.stop_pose = stop_pose.point.pose; stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set( - path->points, planner_data_->current_odometry->pose, stop_pose, - VelocityFactor::APPROACHING); + velocity_factor_.set(signed_arc_dist_to_stop_point, VelocityFactor::APPROACHING); } // Move to stopped state if stopped @@ -124,34 +122,22 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop } case State::STOPPED: { - // Change state after vehicle departure - const auto stopped_pose = autoware::motion_utils::calcLongitudinalOffsetPose( - path->points, planner_data_->current_odometry->pose.position, 0.0); - - if (!stopped_pose) { - break; - } - - SegmentIndexWithPose ego_pos_on_path; - ego_pos_on_path.pose = stopped_pose.value(); - ego_pos_on_path.index = findEgoSegmentIndex(path->points); - // Insert stop pose - planning_utils::insertStopPoint(ego_pos_on_path.pose.position, ego_pos_on_path.index, *path); - - debug_data_.stop_pose = stop_pose; + trajectory->longitudinal_velocity_mps.range(ego_on_trajectory_s, trajectory->length()) + .set(0.0); + const auto ego_pos_on_path = trajectory->compute(ego_on_trajectory_s).point.pose; + debug_data_.stop_pose = ego_pos_on_path; // Get stop point and stop factor { tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = ego_pos_on_path.pose; + stop_factor.stop_pose = ego_pos_on_path; stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set( - path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::STOPPED); + velocity_factor_.set(signed_arc_dist_to_stop_point, VelocityFactor::STOPPED); } - const auto elapsed_time = (clock_->now() - *stopped_time_).seconds(); + const double elapsed_time = (clock_->now() - *stopped_time_).seconds(); if (planner_param_.stop_duration_sec < elapsed_time) { RCLCPP_INFO(logger_, "STOPPED -> START"); @@ -174,6 +160,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop } } + path->points = trajectory->restore(); + return true; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp index 78aec89adb063..cb48aabe57c1a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp @@ -15,23 +15,20 @@ #ifndef SCENE_HPP_ #define SCENE_HPP_ +#include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp" +#include "autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp" +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" + #include -#include -#include #include #include #define EIGEN_MPL2_ONLY #include #include -#include -#include -#include -#include #include #include -#include namespace autoware::behavior_velocity_planner { @@ -42,24 +39,6 @@ class StopLineModule : public SceneModuleInterface public: enum class State { APPROACH, STOPPED, START }; - struct SegmentIndexWithPose - { - size_t index; - geometry_msgs::msg::Pose pose; - }; - - struct SegmentIndexWithPoint2d - { - size_t index; - Point2d point; - }; - - struct SegmentIndexWithOffset - { - size_t index; - double offset; - }; - struct DebugData { double base_link2front; @@ -77,10 +56,9 @@ class StopLineModule : public SceneModuleInterface bool show_stop_line_collision_check; }; -public: StopLineModule( - const int64_t module_id, const size_t lane_id, const lanelet::ConstLineString3d & stop_line, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const int64_t module_id, const size_t lane_id, lanelet::ConstLineString3d stop_line, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst index 9281fdade1dac..361738a56b5b4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_behavior_velocity_template_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst index 4b028feb98393..80f08e3aec044 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package autoware_behavior_velocity_traffic_light_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(traffic_light): write test for utils (`#9046 `_) +* test(traffic_light): write test for utils (`#9046 `_) * refactor: separate utils file * refactor: utils function output * test: write test for utils * chore: add doxygen --------- -* fix(behavior_velocity_traffic_light): make dilemma_zone_plotter.py executable (`#8684 `_) -* feat(traffic_light): add dilemma_zone_plotter.py (`#8638 `_) +* fix(behavior_velocity_traffic_light): make dilemma_zone_plotter.py executable (`#8684 `_) +* feat(traffic_light): add dilemma_zone_plotter.py (`#8638 `_) * feat(traffic_light): add dilemma_zone_plotter.py * fix typo * fix typo --------- -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_traffic_light_module): fix uninitMemberVar (`#8317 `_) +* fix(autoware_behavior_velocity_traffic_light_module): fix uninitMemberVar (`#8317 `_) fix:funinitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 9cff5fb92b54b..244d03553351b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -25,6 +25,7 @@ autoware_perception_msgs autoware_planning_msgs autoware_route_handler + autoware_traffic_light_utils autoware_universe_utils eigen geometry_msgs @@ -34,7 +35,6 @@ tf2_eigen tf2_geometry_msgs tier4_planning_msgs - traffic_light_utils visualization_msgs ament_cmake_ros diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp index eddc30657a0df..0d7c77d5e1b59 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp @@ -15,6 +15,7 @@ #include "manager.hpp" #include +#include #include #include @@ -60,7 +61,7 @@ void TrafficLightModuleManager::modifyPathVelocity(tier4_planning_msgs::msg::Pat stop_reason_array.header.frame_id = "map"; stop_reason_array.header.stamp = path->header.stamp; - first_stop_path_point_index_ = static_cast(path->points.size() - 1); + first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); nearest_ref_stop_path_point_index_ = static_cast(path->points.size() - 1); for (const auto & scene_module : scene_modules_) { tier4_planning_msgs::msg::StopReason stop_reason; @@ -79,8 +80,10 @@ void TrafficLightModuleManager::modifyPathVelocity(tier4_planning_msgs::msg::Pat stop_reason_array.stop_reasons.emplace_back(stop_reason); } - if (traffic_light_scene_module->getFirstStopPathPointIndex() < first_stop_path_point_index_) { - first_stop_path_point_index_ = traffic_light_scene_module->getFirstStopPathPointIndex(); + if ( + traffic_light_scene_module->getFirstStopPathPointDistance() < + first_stop_path_point_distance_) { + first_stop_path_point_distance_ = traffic_light_scene_module->getFirstStopPathPointDistance(); } if ( traffic_light_scene_module->getFirstRefStopPathPointIndex() < diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index af5eac943ec13..c59071f2043bb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -18,7 +18,7 @@ #include #include -#include +#include #include #include @@ -58,7 +58,7 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * { debug_data_ = DebugData(); debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - first_stop_path_point_index_ = static_cast(path->points.size()) - 1; + first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); first_ref_stop_path_point_index_ = static_cast(path->points.size()) - 1; *stop_reason = planning_utils::initializeStopReason(StopReason::TRAFFIC_LIGHT); @@ -177,7 +177,7 @@ bool TrafficLightModule::isStopSignal() } // Check if the current traffic signal state requires stopping - return traffic_light_utils::isTrafficSignalStop(lane_, looking_tl_state_); + return autoware::traffic_light_utils::isTrafficSignalStop(lane_, looking_tl_state_); } void TrafficLightModule::updateTrafficSignal() @@ -291,8 +291,11 @@ tier4_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopPose( // Insert stop pose into path or replace with zero velocity size_t insert_index = insert_target_point_idx; planning_utils::insertVelocity(modified_path, target_point_with_lane_id, 0.0, insert_index); - if (static_cast(target_velocity_point_idx) < first_stop_path_point_index_) { - first_stop_path_point_index_ = static_cast(target_velocity_point_idx); + + const double target_velocity_point_distance = autoware::motion_utils::calcArcLength(std::vector( + modified_path.points.begin(), modified_path.points.begin() + target_velocity_point_idx)); + if (target_velocity_point_distance < first_stop_path_point_distance_) { + first_stop_path_point_distance_ = target_velocity_point_distance; debug_data_.first_stop_pose = target_point_with_lane_id.point.pose; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst index ce31a8bb963e7..f811d901e6489 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(virtual_traffic_light): add unit tests for utils (`#9107 `_) -* chore(virtual_traffic_light): add soblin to maintainer (`#9147 `_) -* refactor(virtual_traffic_light): move to utils for unit test (`#9106 `_) -* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedFunction (`#8670 `_) +* test(virtual_traffic_light): add unit tests for utils (`#9107 `_) +* chore(virtual_traffic_light): add soblin to maintainer (`#9147 `_) +* refactor(virtual_traffic_light): move to utils for unit test (`#9106 `_) +* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedFunction (`#8670 `_) fix:unusedFunction -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedStructMember (`#8394 `_) +* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedStructMember (`#8394 `_) fix:unusedStructMember -* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst index d15003404903f..1d9d0a1dbc9da 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package autoware_behavior_velocity_walkway_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) +* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) * refactor(crosswalk): clean up the structure and create a brief flowchart * update * fix * static stop pose -> default stop pose --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp index d2cf4d39b2b2a..0f1a7509043b5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp @@ -45,7 +45,7 @@ void WalkwayModuleManager::launchNewModules(const PathWithLaneId & path) { const auto rh = planner_data_->route_handler_; - const auto launch = [this, &path](const auto & lanelet, const auto & use_regulatory_element) { + const auto launch = [this](const auto & lanelet, const auto & use_regulatory_element) { const auto attribute = lanelet.attributeOr(lanelet::AttributeNamesString::Subtype, std::string("")); if (attribute != lanelet::AttributeValueString::Walkway) { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst index c15304d214a0c..18a98316008ce 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst @@ -5,20 +5,20 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(dynamic_obstacle_stop): add tests and do some refactoring (`#8250 `_) -* fix(autoware_motion_velocity_dynamic_obstacle_stop_module): fix funcArgNamesDifferent (`#8024 `_) +* test(dynamic_obstacle_stop): add tests and do some refactoring (`#8250 `_) +* fix(autoware_motion_velocity_dynamic_obstacle_stop_module): fix funcArgNamesDifferent (`#8024 `_) fix:funcArgNamesDifferent -* perf(dynamic_obstacle_stop): construct rtree nodes in place (`#7753 `_) -* perf(dynamic_obstacle_stop): create rtree with packing algorithm (`#7730 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* perf(dynamic_obstacle_stop): construct rtree nodes in place (`#7753 `_) +* perf(dynamic_obstacle_stop): create rtree with packing algorithm (`#7730 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) * Contributors: Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst index 33609b35c09c9..8519142e059eb 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst @@ -5,43 +5,43 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* chore(obstacle_velocity_limiter): add Alqudah Mohammad as codeowner (`#8516 `_) -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix functionStatic (`#8483 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* chore(obstacle_velocity_limiter): add Alqudah Mohammad as codeowner (`#8516 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix functionStatic (`#8483 `_) fix:functionStatic -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable (`#8366 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable (`#8366 `_) * fix:unreadVariable * fix:unreadVariable --------- -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix uninitMemberVar (`#8314 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix uninitMemberVar (`#8314 `_) fix:funinitMemberVar -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix funcArgNamesDifferent (`#8025 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix funcArgNamesDifferent (`#8025 `_) fix:funcArgNamesDifferent -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix shadowVariable (`#7977 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix shadowVariable (`#7977 `_) * fix:shadowVariable * fix:shadowVariable --------- -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable warning (`#7625 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable warning (`#7625 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) -* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst index 6b006d110dbe5..35ad88f5955db 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst @@ -5,44 +5,44 @@ Changelog for package autoware_motion_velocity_out_of_lane_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* perf(out_of_lane): use intersection with other lanes instead of difference with ego lane (`#8870 `_) -* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* perf(out_of_lane): use intersection with other lanes instead of difference with ego lane (`#8870 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* docs(out_of_lane): update documentation for the new design (`#8692 `_) -* fix(out_of_lane): fix a bug with the rtree reference deleted nodes (`#8679 `_) -* fix(out_of_lane): fix noConstructor cppcheck warning (`#8636 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* perf(out_of_lane): use rtree to get stop lines and trajectory lanelets (`#8439 `_) -* chore(out_of_lane): add Mamoru SOBUE as maintainer (`#8440 `_) -* feat(out_of_lane): also apply lat buffer between the lane and stop pose (`#7918 `_) -* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) -* fix(autoware_motion_velocity_out_of_lane_module): fix constParameterReference (`#8051 `_) +* docs(out_of_lane): update documentation for the new design (`#8692 `_) +* fix(out_of_lane): fix a bug with the rtree reference deleted nodes (`#8679 `_) +* fix(out_of_lane): fix noConstructor cppcheck warning (`#8636 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* perf(out_of_lane): use rtree to get stop lines and trajectory lanelets (`#8439 `_) +* chore(out_of_lane): add Mamoru SOBUE as maintainer (`#8440 `_) +* feat(out_of_lane): also apply lat buffer between the lane and stop pose (`#7918 `_) +* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) +* fix(autoware_motion_velocity_out_of_lane_module): fix constParameterReference (`#8051 `_) fix:constParameterReference -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -51,7 +51,7 @@ Changelog for package autoware_motion_velocity_out_of_lane_module * fix formats * keep header and source file name as before --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -86,17 +86,17 @@ Changelog for package autoware_motion_velocity_out_of_lane_module * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) * feat(motion_velocity_planner): use polling subscriber for odometry topic * use polling subscribers for more topics * remove blocking mutex lock when processing traffic lights * fix assign after return --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) * Contributors: Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, mkquda 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index 6c8122e816555..18e072191905e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -21,6 +21,7 @@ autoware_perception_msgs autoware_planning_msgs autoware_route_handler + autoware_traffic_light_utils autoware_universe_utils autoware_vehicle_info_utils geometry_msgs @@ -29,7 +30,6 @@ rclcpp tf2 tier4_planning_msgs - traffic_light_utils visualization_msgs ament_cmake_ros diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp index 652e941e905e4..f9ba7f4af9877 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp @@ -15,8 +15,8 @@ #include "filter_predicted_objects.hpp" #include +#include #include -#include #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp index 03a8468d19b3a..63ca1b5784fe8 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp @@ -26,11 +26,11 @@ #include #include #include +#include #include #include #include #include -#include #include #include @@ -179,7 +179,8 @@ void prepare_stop_lines_rtree( const auto traffic_signal_stamped = planner_data.get_traffic_signal(element->id()); if ( traffic_signal_stamped.has_value() && element->stopLine().has_value() && - traffic_light_utils::isTrafficSignalStop(ll, traffic_signal_stamped.value().signal)) { + autoware::traffic_light_utils::isTrafficSignalStop( + ll, traffic_signal_stamped.value().signal)) { stop_line_node.second.stop_line.clear(); for (const auto & p : element->stopLine()->basicLineString()) { stop_line_node.second.stop_line.emplace_back(p.x(), p.y()); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst index df513cf0a7330..2de2517dbf0e5 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst @@ -5,31 +5,31 @@ Changelog for package autoware_motion_velocity_planner_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(motion_velocity_planner): disable randomly failing test (`#8923 `_) -* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) -* fix(motion_velocity_planner): relax test precision to prevent random failures (`#8799 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* fix(motion_velocity_planner): disable randomly failing test (`#8923 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* fix(motion_velocity_planner): relax test precision to prevent random failures (`#8799 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -38,7 +38,7 @@ Changelog for package autoware_motion_velocity_planner_common * fix formats * keep header and source file name as before --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -73,27 +73,27 @@ Changelog for package autoware_motion_velocity_planner_common * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) * feat(motion_velocity_planner): use polling subscriber for odometry topic * use polling subscribers for more topics * remove blocking mutex lock when processing traffic lights * fix assign after return --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) +* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) * refactor(behavior_velocity_planner_common): add autoware prefix * refactor(behavior_velocity_planner_common): fix run_out module * refactor(behavior_velocity_planner_common): fix for autoware_behavior_velocity_walkway_module * refactor(behavior_velocity_planner_common): remove unnecessary using --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -104,7 +104,7 @@ Changelog for package autoware_motion_velocity_planner_common * fix: test * fix: test --------- -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, mkquda 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst index 8a141b67d8ef3..aabf62dffd79d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_motion_velocity_planner_node 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) -* perf(motion_velocity_planner): fix heavy resampling and transform lookup (`#8839 `_) -* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* perf(motion_velocity_planner): fix heavy resampling and transform lookup (`#8839 `_) +* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) * tmp save. * publish diagnostics. * move clearDiagnostics func to head @@ -26,33 +26,33 @@ Changelog for package autoware_motion_velocity_planner_node Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) * not resample debug_trajectories if not published * update dependant packages --------- -* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) -* fix(motion_planning): fix processing time topic names (`#7885 `_) -* fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (`#7840 `_) -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) +* fix(motion_planning): fix processing time topic names (`#7885 `_) +* fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (`#7840 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) set single depth sensor data qos for pointlcoud polling subscribers -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -64,22 +64,22 @@ Changelog for package autoware_motion_velocity_planner_node * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) -* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) * feat(motion_velocity_planner): use polling subscriber for odometry topic * use polling subscribers for more topics * remove blocking mutex lock when processing traffic lights * fix assign after return --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -90,7 +90,7 @@ Changelog for package autoware_motion_velocity_planner_node * fix: test * fix: test --------- -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Tiankui Xian, Yutaka Kondo, Zulfaqar Azmi, mkquda 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml index bf4e8a242d576..3e68d8262aae9 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml @@ -25,7 +25,6 @@ autoware_planning_msgs autoware_universe_utils autoware_velocity_smoother - diagnostic_msgs eigen geometry_msgs libboost-dev @@ -39,6 +38,7 @@ tf2_geometry_msgs tf2_ros tier4_debug_msgs + tier4_metric_msgs tier4_planning_msgs visualization_msgs diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index eaa3b8c17402e..0e8a36977fec8 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -26,7 +26,6 @@ #include #include -#include #include #include @@ -89,7 +88,7 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions & this->create_publisher("~/debug/processing_time_ms", 1); debug_viz_pub_ = this->create_publisher("~/debug/markers", 1); - diagnostics_pub_ = this->create_publisher("/diagnostics", 10); + metrics_pub_ = this->create_publisher("~/metrics", 1); // Parameters smooth_velocity_before_planning_ = declare_parameter("smooth_velocity_before_planning"); @@ -307,12 +306,9 @@ void MotionVelocityPlannerNode::on_trajectory( processing_time_msg.data = processing_times["Total"]; processing_time_publisher_->publish(processing_time_msg); - std::shared_ptr diagnostics = - planner_manager_.get_diagnostics(get_clock()->now()); - if (!diagnostics->status.empty()) { - diagnostics_pub_->publish(*diagnostics); - } - planner_manager_.clear_diagnostics(); + std::shared_ptr metrics = planner_manager_.get_metrics(get_clock()->now()); + metrics_pub_->publish(*metrics); + planner_manager_.clear_metrics(); } void MotionVelocityPlannerNode::insert_stop( diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp index 8283396d17414..757be518e018a 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp @@ -44,8 +44,6 @@ #include #include -using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; - namespace autoware::motion_velocity_planner { using autoware_map_msgs::msg::LaneletMapBin; @@ -104,7 +102,7 @@ class MotionVelocityPlannerNode : public rclcpp::Node this, "~/debug/processing_time_ms_diag"}; rclcpp::Publisher::SharedPtr processing_time_publisher_; autoware::universe_utils::PublishedTimePublisher published_time_publisher_{this}; - rclcpp::Publisher::SharedPtr diagnostics_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; // parameters rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr set_param_callback_; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp index 04641e0cea6bb..416ad215d5e25 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp @@ -71,41 +71,25 @@ void MotionVelocityPlannerManager::update_module_parameters( for (auto & plugin : loaded_plugins_) plugin->update_parameters(parameters); } -std::shared_ptr MotionVelocityPlannerManager::make_diagnostic( - const std::string & module_name, const std::string & reason, const bool is_decided) +std::shared_ptr MotionVelocityPlannerManager::make_decision_metric( + const std::string & module_name, const std::string & reason) { - auto status = std::make_shared(); - status->level = status->OK; - status->name = module_name + '.' + reason; - diagnostic_msgs::msg::KeyValue key_value; - { - // Decision - key_value.key = "decision"; - if (is_decided) - key_value.value = reason; - else - key_value.value = "none"; - status->values.push_back(key_value); - } - // Add other information to the status if necessary in the future. - return status; + auto metric = std::make_shared(); + metric->name = module_name + "/decision"; + metric->value = reason; + return metric; } -std::shared_ptr MotionVelocityPlannerManager::get_diagnostics( +std::shared_ptr MotionVelocityPlannerManager::get_metrics( const rclcpp::Time & current_time) const { - auto diagnostics = std::make_shared(); + auto metrics = std::make_shared(); + metrics->stamp = current_time; - for (const auto & ds_ptr : diagnostics_) { - if ( - !ds_ptr->values.empty() && ds_ptr->values[0].key == "decision" && - ds_ptr->values[0].value != "none") { - diagnostics->status.push_back(*ds_ptr); - } + for (const auto & mtr_ptr : metrics_) { + metrics->metric_array.push_back(*mtr_ptr); } - diagnostics->header.stamp = current_time; - diagnostics->header.frame_id = "map"; - return diagnostics; + return metrics; } std::vector MotionVelocityPlannerManager::plan_velocities( @@ -117,13 +101,15 @@ std::vector MotionVelocityPlannerManager::plan_velocitie VelocityPlanningResult res = plugin->plan(ego_trajectory_points, planner_data); results.push_back(res); - const auto stop_reason_diag = - make_diagnostic(plugin->get_module_name(), "stop", res.stop_points.size() > 0); - diagnostics_.push_back(stop_reason_diag); - - const auto slow_down_reason_diag = - make_diagnostic(plugin->get_module_name(), "slow_down", res.slowdown_intervals.size() > 0); - diagnostics_.push_back(slow_down_reason_diag); + if (res.stop_points.size() > 0) { + const auto stop_decision_metric = make_decision_metric(plugin->get_module_name(), "stop"); + metrics_.push_back(stop_decision_metric); + } + if (res.slowdown_intervals.size() > 0) { + const auto slow_down_decision_metric = + make_decision_metric(plugin->get_module_name(), "slow_down"); + metrics_.push_back(slow_down_decision_metric); + } } return results; } diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp index ac2e421d30cb6..0e3bd77180f6e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp @@ -23,9 +23,9 @@ #include #include #include -#include -#include #include +#include +#include #include #include @@ -36,8 +36,8 @@ #include #include -using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; -using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; +using Metric = tier4_metric_msgs::msg::Metric; +using MetricArray = tier4_metric_msgs::msg::MetricArray; namespace autoware::motion_velocity_planner { @@ -52,14 +52,14 @@ class MotionVelocityPlannerManager const std::vector & ego_trajectory_points, const std::shared_ptr planner_data); - // Diagnostic - std::shared_ptr make_diagnostic( - const std::string & module_name, const std::string & reason, const bool is_decided = true); - std::shared_ptr get_diagnostics(const rclcpp::Time & current_time) const; - void clear_diagnostics() { diagnostics_.clear(); } + // Metrics + std::shared_ptr make_decision_metric( + const std::string & module_name, const std::string & reason); + std::shared_ptr get_metrics(const rclcpp::Time & current_time) const; + void clear_metrics() { metrics_.clear(); } private: - std::vector> diagnostics_; + std::vector> metrics_; pluginlib::ClassLoader plugin_loader_; std::vector> loaded_plugins_; }; diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst index 2084bc1c56aef..3b3d46ee59b79 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_bezier_sampler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Maxime CLEMENT, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst index 227dc896c34ab..9d539fa198df1 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_frenet_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_frenet_planner): fix build error (`#8807 `_) +* fix(autoware_frenet_planner): fix build error (`#8807 `_) fix:build error -* fix(autoware_frenet_planner): fix unusedFunction (`#8788 `_) +* fix(autoware_frenet_planner): fix unusedFunction (`#8788 `_) fix: unusedFunction -* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Hayate TOBA, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst index c809f9008566e..6ad80c1f48ae0 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_path_sampler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(autoware_path_sampler): fix unusedFunction (`#8730 `_) +* fix(autoware_path_sampler): fix unusedFunction (`#8730 `_) fix:unusedFunction -* fix(autoware_path_sampler): fix passedByValue (`#8216 `_) +* fix(autoware_path_sampler): fix passedByValue (`#8216 `_) fix:passedByValue -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_path_sampler): fix unusedVariable warning (`#7584 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_path_sampler): fix unusedVariable warning (`#7584 `_) fix unusedVariable warning -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* feat(sampling_based_planner): use polling subscribers (`#7394 `_) -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* feat(sampling_based_planner): use polling subscribers (`#7394 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -56,7 +56,7 @@ Changelog for package autoware_path_sampler * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index 188839c805179..c4dafda08a14c 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -34,9 +34,9 @@ ament_cmake_ros ament_index_python ament_lint_auto + autoware_fake_test_node autoware_lint_common autoware_testing - fake_test_node ament_cmake diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst index 6b16ba6e8ce43..c571077d5d029 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_sampler_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst index b7bdc26004971..f5437230cc80d 100644 --- a/sensing/autoware_cuda_utils/CHANGELOG.rst +++ b/sensing/autoware_cuda_utils/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package cuda_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore: added maintainers to the cuda_utils package (`#9042 `_) -* refactor(cuda_utils): move cuda_utils to sensing (`#8729 `_) +* chore: added maintainers to the cuda_utils package (`#9042 `_) +* refactor(cuda_utils): move cuda_utils to sensing (`#8729 `_) fix: move cuda_utils to sensing * Contributors: Kenzo Lobos Tsunekawa, Yoshi Ri, Yutaka Kondo diff --git a/sensing/autoware_gnss_poser/CHANGELOG.rst b/sensing/autoware_gnss_poser/CHANGELOG.rst index 7ece0bad8834f..551ed898b5663 100644 --- a/sensing/autoware_gnss_poser/CHANGELOG.rst +++ b/sensing/autoware_gnss_poser/CHANGELOG.rst @@ -5,13 +5,13 @@ Changelog for package autoware_gnss_poser 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* chore(autoware_gnss_poser): make source codes follow the coding rules (`#8703 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* chore(autoware_gnss_poser): make source codes follow the coding rules (`#8703 `_) * Follow the coding rules in autoware_gnss_poser * Edit _core to _node inside files * Fixed AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP\_ part --------- -* chore(gnss_poser): add autoware prefix to gnss_poser (`#8323 `_) +* chore(gnss_poser): add autoware prefix to gnss_poser (`#8323 `_) * add "autoware" prefix to gnss_poser * Fixed typos and left overs * Fixed directory mistake diff --git a/sensing/autoware_image_diagnostics/CHANGELOG.rst b/sensing/autoware_image_diagnostics/CHANGELOG.rst index a8b0b2ba885d6..cc0f34ff1a90b 100644 --- a/sensing/autoware_image_diagnostics/CHANGELOG.rst +++ b/sensing/autoware_image_diagnostics/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_image_diagnostics 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_image_diagnostics): fix cppcheck warnings (`#8228 `_) +* fix(autoware_image_diagnostics): fix cppcheck warnings (`#8228 `_) * fix(autoware_image_diagnostics): fix cppcheck warnings * fix --------- -* refactor(image_diagnostics): add package name prefix of autoware\_ (`#8130 `_) +* refactor(image_diagnostics): add package name prefix of autoware\_ (`#8130 `_) * refactor: rename image_diagnostics to autoware_image_diagnostics * refactor: rename sensing/image_diagnostics to sensing/autoware_image_diagnostics --------- diff --git a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst index 7d34fbbbb3583..faf96ac052e25 100644 --- a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst +++ b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_image_transport_decompressor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor: image transport decompressor/autoware prefix (`#8197 `_) +* refactor: image transport decompressor/autoware prefix (`#8197 `_) * refactor: add `autoware` namespace prefix to image_transport_decompressor * refactor(image_transport_decompressor): add `autoware` prefix to the package code * refactor: update package name in CODEOWNER diff --git a/sensing/autoware_imu_corrector/CHANGELOG.rst b/sensing/autoware_imu_corrector/CHANGELOG.rst index 62559852c75d7..3ee386a1481f3 100644 --- a/sensing/autoware_imu_corrector/CHANGELOG.rst +++ b/sensing/autoware_imu_corrector/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_imu_corrector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(autoware_imu_corrector): refactored the imu corrector into the autoware namespace (`#8222 `_) +* chore(autoware_imu_corrector): refactored the imu corrector into the autoware namespace (`#8222 `_) * chore: refactored the imu corrector into the autoware namespace * chore: reverted to non-exported includes --------- diff --git a/sensing/autoware_pcl_extensions/CHANGELOG.rst b/sensing/autoware_pcl_extensions/CHANGELOG.rst index 2d31b5ba074f6..7d0c642b6ff8b 100644 --- a/sensing/autoware_pcl_extensions/CHANGELOG.rst +++ b/sensing/autoware_pcl_extensions/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_pcl_extensions 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) +* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) chore: refactored the pcl_extensions according to the new rules * Contributors: Kenzo Lobos Tsunekawa, Yutaka Kondo diff --git a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst index 9c9a7c3f41fba..126b444134bc8 100644 --- a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst +++ b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_pointcloud_preprocessor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) * refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation * style(pre-commit): autofix * include message_filters as SYSTEM * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (`#8380 `_) +* feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (`#8380 `_) * feat: add option for updating distance and azimuth value * chore: clean code * chore: remove space @@ -109,7 +109,7 @@ Changelog for package autoware_pointcloud_preprocessor Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) +* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) * feat: add parameter schema for crop box * chore: fix readme * chore: remove filter.param.yaml file @@ -117,7 +117,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix schema description * chore: fix description of negative param --------- -* refactor(autoware_pointcloud_preprocessor): rework approximate downsample filter parameters (`#8480 `_) +* refactor(autoware_pointcloud_preprocessor): rework approximate downsample filter parameters (`#8480 `_) * feat: rework approximate downsample parameters * chore: add boundary * chore: change double to float @@ -129,7 +129,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: change minimum to float * chore: fix CMakeLists --------- -* refactor(autoware_pointcloud_preprocessor): rework dual return outlier filter parameters (`#8475 `_) +* refactor(autoware_pointcloud_preprocessor): rework dual return outlier filter parameters (`#8475 `_) * feat: rework dual return outlier filter parameters * chore: fix readme * chore: change launch file name @@ -145,7 +145,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: change minimum and maximum to float --------- Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters (`#8468 `_) +* refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters (`#8468 `_) * feat: rework ring outlier parameters * chore: add explicit cast * chore: add boundary @@ -154,7 +154,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: add maximum boundary * chore: boundary to float type --------- -* refactor(autoware_pointcloud_preprocessor): rework pickup based voxel grid downsample filter parameters (`#8481 `_) +* refactor(autoware_pointcloud_preprocessor): rework pickup based voxel grid downsample filter parameters (`#8481 `_) * feat: rework pickup based voxel grid downsample filter parameter * chore: update date * chore: fix spell error @@ -162,7 +162,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix grammatical error --------- Co-authored-by: Kenzo Lobos Tsunekawa -* ci(pre-commit): autoupdate (`#7630 `_) +* ci(pre-commit): autoupdate (`#7630 `_) * ci(pre-commit): autoupdate * style(pre-commit): autofix * fix: remove the outer call to dict() @@ -170,24 +170,24 @@ Changelog for package autoware_pointcloud_preprocessor Co-authored-by: github-actions Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: mitsudome-r -* refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters (`#8485 `_) +* refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters (`#8485 `_) * feat: rework random downsample filter parameter * chore: change name * chore: add explicit cast --------- Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(autoware_pointcloud_preprocessor): rework pointcloud accumulator parameters (`#8487 `_) +* refactor(autoware_pointcloud_preprocessor): rework pointcloud accumulator parameters (`#8487 `_) * feat: rework pointcloud accumulator parameters * chore: add explicit cast * chore: add boundary --------- -* refactor(autoware_pointcloud_preprocessor): rework radius search 2d outlier filter parameters (`#8474 `_) +* refactor(autoware_pointcloud_preprocessor): rework radius search 2d outlier filter parameters (`#8474 `_) * feat: rework radius search 2d outlier filter parameters * chore: fix schema * chore: explicit cast * chore: add boundary in schema --------- -* refactor(autoware_pointcloud_preprocessor): rework ring passthrough filter parameters (`#8472 `_) +* refactor(autoware_pointcloud_preprocessor): rework ring passthrough filter parameters (`#8472 `_) * feat: rework ring passthrough parameters * chore: fix cmake * feat: add schema @@ -197,16 +197,16 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix default parameter * chore: fix default parameter in schema --------- -* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) -* fix(pointcloud_preprocessor): fix typo (`#8762 `_) -* fix(autoware_pointcloud_preprocessor): instantiate templates so that the symbols exist when linking (`#8743 `_) -* fix(autoware_pointcloud_preprocessor): fix unusedFunction (`#8673 `_) +* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) +* fix(pointcloud_preprocessor): fix typo (`#8762 `_) +* fix(autoware_pointcloud_preprocessor): instantiate templates so that the symbols exist when linking (`#8743 `_) +* fix(autoware_pointcloud_preprocessor): fix unusedFunction (`#8673 `_) fix:unusedFunction -* fix(autoware_pointcloud_preprocessor): resolve issue with FLT_MAX not declared on Jazzy (`#8586 `_) +* fix(autoware_pointcloud_preprocessor): resolve issue with FLT_MAX not declared on Jazzy (`#8586 `_) fix(pointcloud-preprocessor): FLT_MAX not declared Fixes compilation error on Jazzy: error: ‘FLT_MAX’ was not declared in this scope -* fix(autoware_pointcloud_preprocessor): blockage diag node add runtime error when the parameter is wrong (`#8564 `_) +* fix(autoware_pointcloud_preprocessor): blockage diag node add runtime error when the parameter is wrong (`#8564 `_) * fix: add runtime error * Update blockage_diag_node.cpp Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> @@ -214,12 +214,12 @@ Changelog for package autoware_pointcloud_preprocessor * chore: remove unused variable --------- Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> -* chore(autoware_pointcloud_preprocessor): change unnecessary warning message to debug (`#8525 `_) -* refactor(autoware_pointcloud_preprocessor): rework voxel grid outlier filter parameters (`#8476 `_) +* chore(autoware_pointcloud_preprocessor): change unnecessary warning message to debug (`#8525 `_) +* refactor(autoware_pointcloud_preprocessor): rework voxel grid outlier filter parameters (`#8476 `_) * feat: rework voxel grid outlier filter parameters * chore: add boundary --------- -* refactor(autoware_pointcloud_preprocessor): rework lanelet2 map filter parameters (`#8491 `_) +* refactor(autoware_pointcloud_preprocessor): rework lanelet2 map filter parameters (`#8491 `_) * feat: rework lanelet2 map filter parameters * chore: remove unrelated files * fix: fix node name in launch @@ -227,12 +227,12 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix spell error * chore: add boundary --------- -* refactor(autoware_pointcloud_preprocessor): rework vector map inside area filter parameters (`#8493 `_) +* refactor(autoware_pointcloud_preprocessor): rework vector map inside area filter parameters (`#8493 `_) * feat: rework vector map inside area filter parameter * chore: fix launcher * chore: fix launcher input and output --------- -* refactor(autoware_pointcloud_preprocessor): rework concatenate_pointcloud and time_synchronizer_node parameters (`#8509 `_) +* refactor(autoware_pointcloud_preprocessor): rework concatenate_pointcloud and time_synchronizer_node parameters (`#8509 `_) * feat: rewort concatenate pointclouds and time synchronizer parameter * chore: fix launch files * chore: fix schema @@ -240,39 +240,39 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix integer and number default value in schema * chore: add boundary --------- -* refactor(autoware_pointcloud_preprocessor): rework voxel grid downsample filter parameters (`#8486 `_) +* refactor(autoware_pointcloud_preprocessor): rework voxel grid downsample filter parameters (`#8486 `_) * feat:rework voxel grid downsample parameters * chore: add boundary --------- Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(autoware_pointcloud_preprocessor): rework blockage diag parameters (`#8488 `_) +* refactor(autoware_pointcloud_preprocessor): rework blockage diag parameters (`#8488 `_) * feat: rework blockage diag parameters * chore: fix readme * chore: fix schema description * chore: add boundary for schema --------- -* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) +* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) chore: refactored the pcl_extensions according to the new rules -* feat(pointcloud_preprocessor)!: revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" (`#8397 `_) - * feat!(pointcloud_preprocessor): Revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" +* feat(pointcloud_preprocessor)!: revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" (`#8397 `_) + * feat!(pointcloud_preprocessor): Revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" This reverts commit 6b9f164b123e2f6a6fedf7330e507d4b68e45a09. * feat(pointcloud_preprocessor): minor grammar fix Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> --------- Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> -* fix(autoware_pointcloud_preprocessor): fix variableScope (`#8447 `_) +* fix(autoware_pointcloud_preprocessor): fix variableScope (`#8447 `_) * fix:variableScope * refactor:use const --------- -* fix(autoware_pointcloud_preprocessor): fix unreadVariable (`#8370 `_) +* fix(autoware_pointcloud_preprocessor): fix unreadVariable (`#8370 `_) fix:unreadVariable -* fix(ring_outlier_filter): remove unnecessary resize to prevent zero points (`#8402 `_) +* fix(ring_outlier_filter): remove unnecessary resize to prevent zero points (`#8402 `_) fix: remove unnecessary resize -* fix(autoware_pointcloud_preprocessor): fix cppcheck warnings of functionStatic (`#8163 `_) +* fix(autoware_pointcloud_preprocessor): fix cppcheck warnings of functionStatic (`#8163 `_) fix: deal with functionStatic warnings Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> -* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) +* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) * perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners * fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic * fix(autoware_ground_segmentation): add missing TF listener @@ -282,14 +282,14 @@ Changelog for package autoware_pointcloud_preprocessor * fix(autoware_universe_utils): change checks order * doc(autoware_universe_utils): add docstring --------- -* fix(autoware_pointcloud_preprocessor): fix functionConst (`#8280 `_) +* fix(autoware_pointcloud_preprocessor): fix functionConst (`#8280 `_) fix:functionConst -* fix(autoware_pointcloud_preprocessor): fix passedByValue (`#8242 `_) +* fix(autoware_pointcloud_preprocessor): fix passedByValue (`#8242 `_) fix:passedByValue -* fix(autoware_pointcloud_preprocessor): fix redundantInitialization (`#8229 `_) -* fix(autoware_pointcloud_preprocessor): revert increase_size() in robin_hood (`#8151 `_) -* fix(autoware_pointcloud_preprocessor): fix knownConditionTrueFalse warning (`#8139 `_) -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* fix(autoware_pointcloud_preprocessor): fix redundantInitialization (`#8229 `_) +* fix(autoware_pointcloud_preprocessor): revert increase_size() in robin_hood (`#8151 `_) +* fix(autoware_pointcloud_preprocessor): fix knownConditionTrueFalse warning (`#8139 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros diff --git a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst index f42dc3d490300..b9fe1abe13093 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst +++ b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_radar_scan_to_pointcloud2 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) +* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) * refactor(radar_scan_to_pointcloud2): rename package and update references fix: rename package folder * refactor(radar_static_pointcloud_filter): rename package and update references diff --git a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst index 6de255fa9848c..c7ee62041f611 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_radar_static_pointcloud_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) +* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) * refactor(radar_scan_to_pointcloud2): rename package and update references fix: rename package folder * refactor(radar_static_pointcloud_filter): rename package and update references diff --git a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst index e76f480a6fce1..366301da6ea56 100644 --- a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_radar_threshold_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) +* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) * refactor(radar_scan_to_pointcloud2): rename package and update references fix: rename package folder * refactor(radar_static_pointcloud_filter): rename package and update references diff --git a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst index 090d6fab8f9ea..6bc3742acd7fc 100644 --- a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_radar_tracks_noise_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter diff --git a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst index dfaa615951d82..4b0c42f440fa2 100644 --- a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst +++ b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package autoware_livox_tag_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_livox_tag_filter): fix unusedStructMember (`#8395 `_) +* fix(autoware_livox_tag_filter): fix unusedStructMember (`#8395 `_) * fix:unusedStructMember * fix:unusedStructMember * fix:clang format * fix:unusedStructMember --------- -* feat(pointcloud_preprocessor): runtime configurable output topic qos (`#6658 `_) +* feat(pointcloud_preprocessor): runtime configurable output topic qos (`#6658 `_) * feat(pointcloud_preprocessor): runtime configurable output topic qos * configurable qos in livox_tag_filter_node * configurable qos in radar_scan_to_pointcloud2 --------- -* refactor(livox_tag_filter): prefix package and namespace with autoware (`#7788 `_) +* refactor(livox_tag_filter): prefix package and namespace with autoware (`#7788 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858, ralwing 0.26.0 (2024-04-03) diff --git a/sensing/vehicle_velocity_converter/CHANGELOG.rst b/sensing/vehicle_velocity_converter/CHANGELOG.rst index d24a2bf62911c..b2488806af1ba 100644 --- a/sensing/vehicle_velocity_converter/CHANGELOG.rst +++ b/sensing/vehicle_velocity_converter/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package vehicle_velocity_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(vehicle_velocity_converter): apply static analysis (`#7975 `_) +* refactor(vehicle_velocity_converter): apply static analysis (`#7975 `_) refactor based on linter -* feat(vehicle_velocity_converter): componentize VehicleVelocityConverter (`#7116 `_) +* feat(vehicle_velocity_converter): componentize VehicleVelocityConverter (`#7116 `_) * remove unusing main func file * mod to componentize and use glog * change log output from screen to both --------- Co-authored-by: Yamato Ando -* feat!: replace autoware_auto_msgs with autoware_msgs for sensing modules (`#7247 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for sensing modules (`#7247 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -21,11 +21,11 @@ Changelog for package vehicle_velocity_converter 0.26.0 (2024-04-03) ------------------- -* refactor(sensing-vehicle-velocity-converter): rework parameters (`#5609 `_) +* refactor(sensing-vehicle-velocity-converter): rework parameters (`#5609 `_) * sensing-vehicle-velocity-converter-module * sensing-vehicle-velocity-converter --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -33,16 +33,16 @@ Changelog for package vehicle_velocity_converter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(vehicle_velocity_converter): add `speed_scale_factor` (`#2641 `_) +* feat(vehicle_velocity_converter): add `speed_scale_factor` (`#2641 `_) * feat(vehicle_velocity_converter): add speed_scale_factor * add parameter description in readme * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(vehicle_velocity_converter): simpify parameter inputs (`#1727 `_) +* fix(vehicle_velocity_converter): simpify parameter inputs (`#1727 `_) * fix(vehicle_velocity_converter): simpify parameter inputs * fix readme and default value * fix default value -* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) +* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) * first commit * ci(pre-commit): autofix * check if angular_velocity_queue\_ is empty or not diff --git a/simulator/autoware_carla_interface/CHANGELOG.rst b/simulator/autoware_carla_interface/CHANGELOG.rst index d72802f44273d..dee9f80052a1d 100644 --- a/simulator/autoware_carla_interface/CHANGELOG.rst +++ b/simulator/autoware_carla_interface/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_carla_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_carla_interface): resolve init file error and colcon marker warning (`#9115 `_) -* fix: removed access to unused ROS_VERSION environment variable. (`#8896 `_) -* ci(pre-commit): autoupdate (`#7630 `_) +* fix(autoware_carla_interface): resolve init file error and colcon marker warning (`#9115 `_) +* fix: removed access to unused ROS_VERSION environment variable. (`#8896 `_) +* ci(pre-commit): autoupdate (`#7630 `_) * ci(pre-commit): autoupdate * style(pre-commit): autofix * fix: remove the outer call to dict() @@ -15,7 +15,7 @@ Changelog for package autoware_carla_interface Co-authored-by: github-actions Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: mitsudome-r -* feat(carla_autoware): add interface to easily use CARLA with Autoware (`#6859 `_) +* feat(carla_autoware): add interface to easily use CARLA with Autoware (`#6859 `_) Co-authored-by: Minsu Kim * Contributors: Esteve Fernandez, Giovanni Muhammad Raditya, Jesus Armando Anaya, Yutaka Kondo, awf-autoware-bot[bot] diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/dummy_perception_publisher/CHANGELOG.rst index c4cd015e71901..102616f3409d9 100644 --- a/simulator/dummy_perception_publisher/CHANGELOG.rst +++ b/simulator/dummy_perception_publisher/CHANGELOG.rst @@ -5,26 +5,26 @@ Changelog for package dummy_perception_publisher 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) +* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) * fix: dummy object rviz plugin dependency * fix: remove message from dummy perception publisher * fix: node name --------- -* feat(dummy_perception_publisher): modify orientation availability of dummy objects (`#8534 `_) +* feat(dummy_perception_publisher): modify orientation availability of dummy objects (`#8534 `_) feat: add orientation availability for tracked objects in perception publisher -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix * fix: cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) refactor(detected_object_feature_remover): add package name prefix of autoware\_ -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -32,17 +32,17 @@ Changelog for package dummy_perception_publisher 0.26.0 (2024-04-03) ------------------- -* fix(log-messages): reduce excessive log messages (`#5971 `_) -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* fix: take dummy objects' height into calculation when locating their Z position (`#4195 `_) +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* fix: take dummy objects' height into calculation when locating their Z position (`#4195 `_) * Update node.cpp fix: consider dummy objects' height when locating its Z position * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(dummy_perception_publisher): fix runtime error (`#3869 `_) +* fix(dummy_perception_publisher): fix runtime error (`#3869 `_) fix(dummy_perception_publisher): fix namespace -* feat(dummy_perception_publisher): publish ground truth object in option (`#3731 `_) +* feat(dummy_perception_publisher): publish ground truth object in option (`#3731 `_) * add ground truth publisher * refactor ground truth publisher * enable to fix random seed @@ -50,7 +50,7 @@ Changelog for package dummy_perception_publisher * change GT output name to debug info * debug info must be under the node ns --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -58,8 +58,8 @@ Changelog for package dummy_perception_publisher --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) -* chore(typo): eliminate typos (`#2216 `_) +* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) +* chore(typo): eliminate typos (`#2216 `_) * Replace 'asssert' with 'assert' * fix(typo): computationall => computational * fix(typo): collinearity => collinearity @@ -231,11 +231,11 @@ Changelog for package dummy_perception_publisher commit c7d3b7d2132323af3437af01e9d774b13005bace Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Fri Dec 16 13:51:35 2022 +0900 - test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) + test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri Dec 16 09:29:35 2022 +0900 - feat(pose_initializer): partial map loading (`#2500 `_) + feat(pose_initializer): partial map loading (`#2500 `_) * first commit * move function * now works @@ -254,7 +254,7 @@ Changelog for package dummy_perception_publisher commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba Author: Kosuke Takeuchi Date: Thu Dec 15 17:29:44 2022 +0900 - feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) + feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) * feat(trajectory_follower): extend mpc trajectory for terminal yaw * make mpc min vel param * add mpc extended point after smoothing @@ -271,7 +271,7 @@ Changelog for package dummy_perception_publisher commit ad2ae7827bdc3af7da8607fdd53ea74940426421 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 15 15:52:34 2022 +0900 - feat(component_interface_tools): add service log checker (`#2503 `_) + feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics @@ -279,11 +279,11 @@ Changelog for package dummy_perception_publisher commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu Dec 15 12:54:11 2022 +0900 - fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) + fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> Date: Thu Dec 15 10:45:45 2022 +0900 - feat(behavior_path_planner): change side shift module logic (`#2195 `_) + feat(behavior_path_planner): change side shift module logic (`#2195 `_) * change side shift module design * cherry picked side shift controller * add debug marker to side shift @@ -301,45 +301,45 @@ Changelog for package dummy_perception_publisher commit 9183c4f20eb4592ed0b48c2eac67add070711677 Author: Takamasa Horibe Date: Wed Dec 14 19:59:00 2022 +0900 - refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) + refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) commit ed992b10ed326f03354dce3b563b8622f9ae9a6c Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 17:48:24 2022 +0900 - fix(behavior_path_planner): fix planner data copy (`#2501 `_) + fix(behavior_path_planner): fix planner data copy (`#2501 `_) commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 14:42:16 2022 +0900 - fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) + fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) * feat(behavior_path_planner): fix find nearest function from lateral distance * empty commit commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 11:28:07 2022 +0900 - feat(behavior_path_planner): fix overlap checker (`#2498 `_) + feat(behavior_path_planner): fix overlap checker (`#2498 `_) * feat(behavior_path_planner): fix overlap checker * remove reserve commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue Dec 13 16:51:59 2022 +0300 - feat(mission_planner): check goal footprint (`#2088 `_) + feat(mission_planner): check goal footprint (`#2088 `_) commit b6a18855431b5f3a67fcbf383fac8df2b45d462e Author: Takamasa Horibe Date: Tue Dec 13 22:46:24 2022 +0900 - feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) + feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 19:47:16 2022 +0900 - feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) + feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) * feat(behavior_path_planner): clean drivable area code * make a function for turn signal decider commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 18:19:41 2022 +0900 - feat(behavior_path_planner): change turn signal output timing (`#2493 `_) + feat(behavior_path_planner): change turn signal output timing (`#2493 `_) commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue Dec 13 09:16:14 2022 +0900 - feat(map_loader): add differential map loading interface (`#2417 `_) + feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -352,13 +352,13 @@ Changelog for package dummy_perception_publisher commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 08:49:23 2022 +0900 - docs(default_ad_api): add readme (`#2491 `_) + docs(default_ad_api): add readme (`#2491 `_) * docs(default_ad_api): add readme * feat: update table commit 49aa10b04de61c36706f6151d11bf17257ca54d1 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 06:46:20 2022 +0900 - feat(default_ad_api): split parameters into file (`#2488 `_) + feat(default_ad_api): split parameters into file (`#2488 `_) * feat(default_ad_api): split parameters into file * feat: remove old parameter * fix: test @@ -366,7 +366,7 @@ Changelog for package dummy_perception_publisher commit 7f0138c356c742b6e15e571e7a4683caa55969ac Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon Dec 12 22:16:54 2022 +0900 - feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) + feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -390,11 +390,11 @@ Changelog for package dummy_perception_publisher commit c855e23cc17d1518ebce5dd15629d03acfe17da3 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 17:15:10 2022 +0900 - refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) + refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) commit fa04d540c9afdded016730c9978920a194d2d2b4 Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon Dec 12 16:04:00 2022 +0900 - feat: replace python launch with xml launch for system monitor (`#2430 `_) + feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure @@ -402,7 +402,7 @@ Changelog for package dummy_perception_publisher commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 Author: Kosuke Takeuchi Date: Mon Dec 12 15:01:39 2022 +0900 - feat(trajectory_follower): pub steer converged marker (`#2441 `_) + feat(trajectory_follower): pub steer converged marker (`#2441 `_) * feat(trajectory_follower): pub steer converged marker * Revert "feat(trajectory_follower): pub steer converged marker" This reverts commit a6f6917bc542d5b533150f6abba086121e800974. @@ -410,15 +410,15 @@ Changelog for package dummy_perception_publisher commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 12:48:41 2022 +0900 - docs(tier4_state_rviz_plugin): update readme (`#2475 `_) + docs(tier4_state_rviz_plugin): update readme (`#2475 `_) commit d8ece0040354be5381a27403bcc757354735a77b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 11:57:03 2022 +0900 - chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) + chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 10:00:35 2022 +0900 - fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) + fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) * fix(behavior_path_planner): lane change candidate resolution * rework sampling based on current speed * refactor code @@ -428,21 +428,21 @@ Changelog for package dummy_perception_publisher commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 09:57:19 2022 +0900 - fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) + fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) commit 469d8927bd7a0c98b9d491d347e111065973e13f Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri Dec 9 21:27:18 2022 +0900 - revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) + revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. commit d924f85b079dfe64feab017166685be40e977e62 Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Date: Fri Dec 9 19:53:51 2022 +0800 - fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) + fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> commit b2ded82324bce78d9db3ff01b0227b00709b1efe Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri Dec 9 17:12:13 2022 +0900 - fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) + fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) * fix: reclassify ground cluster pcl * fix: add lowest-based recheck * chore: refactoring @@ -451,19 +451,19 @@ Changelog for package dummy_perception_publisher commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e Author: Takamasa Horibe Date: Fri Dec 9 16:29:45 2022 +0900 - fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) + fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) commit d4939058f05f9a1609f0ed22afbd0d4febfb212d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri Dec 9 12:40:30 2022 +0900 - feat(behavior_velocity_planner): clean walkway module (`#2480 `_) + feat(behavior_velocity_planner): clean walkway module (`#2480 `_) commit d3b86a37ae7c3a0d59832caf56afa13b148d562c Author: Makoto Kurihara Date: Thu Dec 8 22:59:32 2022 +0900 - fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) + fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) commit 2dde073a101e96757ef0cd189bb9ff06836934e9 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 8 17:16:13 2022 +0900 - feat(behavior_velocity_planner): add velocity factors (`#1985 `_) + feat(behavior_velocity_planner): add velocity factors (`#1985 `_) * (editting) add intersection_coordination to stop reason * (editting) add intersection coordination to stop reasons * (Editting) add v2x to stop reason @@ -514,11 +514,11 @@ Changelog for package dummy_perception_publisher commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 Author: Kosuke Takeuchi Date: Thu Dec 8 13:42:50 2022 +0900 - fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) + fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:57:04 2022 +0900 - feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) + feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) * feat(gyro_odometer): publish when both data arrive * remove unnecessary commentouts * ci(pre-commit): autofix @@ -539,61 +539,61 @@ Changelog for package dummy_perception_publisher commit f0f513cf44532dfe8d51d27c4caef23fb694af16 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:08:29 2022 +0900 - fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) + fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) commit 01daebf42937a05a2d83f3dee2c0778389492e50 Author: Takayuki Murooka Date: Thu Dec 8 00:28:35 2022 +0900 - fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) + fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed Dec 7 19:32:09 2022 +0900 - fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) + fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 18:00:32 2022 +0900 - fix(motion_utils): rename sampling function (`#2469 `_) + fix(motion_utils): rename sampling function (`#2469 `_) commit c240ce2b6f4e79c435ed651b347a7d665a947862 Author: Yukihiro Saito Date: Wed Dec 7 16:33:44 2022 +0900 - feat: remove web controller (`#2405 `_) + feat: remove web controller (`#2405 `_) commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 15:39:28 2022 +0900 - feat(motion_utils): add points resample function (`#2465 `_) + feat(motion_utils): add points resample function (`#2465 `_) commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Wed Dec 7 14:42:33 2022 +0900 - docs: update training data for traffic light (`#2464 `_) + docs: update training data for traffic light (`#2464 `_) * update traffic light cnn classifier README.md * correct to upper case Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> commit a4287165be87fa7727f79c01dfb0bea6af54c333 Author: Ryuta Kambe Date: Wed Dec 7 12:21:49 2022 +0900 - perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) + perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 12:03:46 2022 +0900 - feat(behavior_path_planner): cut overlapped path (`#2451 `_) + feat(behavior_path_planner): cut overlapped path (`#2451 `_) * feat(behavior_path_planner): cut overlapped path * clean code commit 65003dc99f2abe937afcc010514530fa666fbbfd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Wed Dec 7 11:06:41 2022 +0900 - revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) - Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" + revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) + Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" This reverts commit c4224854a7e57a9526dde998f742741fe383471c. commit fab18677ca4de378faff84a41db5147577e7448d Author: Makoto Kurihara Date: Wed Dec 7 10:32:41 2022 +0900 - fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) + fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 Author: Ambroise Vincent Date: Tue Dec 6 10:39:02 2022 +0100 - fix(tvm_utility): copy test result to CPU (`#2414 `_) + fix(tvm_utility): copy test result to CPU (`#2414 `_) Also remove dependency to autoware_auto_common. Issue-Id: SCM-5401 Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d @@ -601,12 +601,12 @@ Changelog for package dummy_perception_publisher commit eb9946832c7e42d5380fd71956165409d0b592c3 Author: Mamoru Sobue Date: Tue Dec 6 18:11:41 2022 +0900 - chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) + chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) changed logging level commit c4224854a7e57a9526dde998f742741fe383471c Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 6 17:01:37 2022 +0900 - fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) + fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) * fix(default_ad_api): fix autoware state to add wait time * Update system/default_ad_api/src/compatibility/autoware_state.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> @@ -614,14 +614,14 @@ Changelog for package dummy_perception_publisher commit f984fbb708cb02947ec2824ce041c739c35940f7 Author: Takamasa Horibe Date: Tue Dec 6 13:55:17 2022 +0900 - feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) + feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) * feat(transition_manager): add param to ignore autonomous transition condition * same for modeChangeCompleted * remove debug print commit d3e640df270a0942c4639e11451faf26e099bbe1 Author: Tomoya Kimura Date: Tue Dec 6 13:01:06 2022 +0900 - feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) + feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) * chore(cspell): interpolable => interpolatable * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing @@ -632,35 +632,35 @@ Changelog for package dummy_perception_publisher --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yukihiro Saito -* feat(dummy_perception_publisher): publish object with acc (`#1853 `_) +* feat(dummy_perception_publisher): publish object with acc (`#1853 `_) * feat(dummy_perception_publisher): publish object with acc * fix * fix -* fix(dummy_perception_publisher): independent of pointcloud from detection_successful_rate (`#1166 `_) +* fix(dummy_perception_publisher): independent of pointcloud from detection_successful_rate (`#1166 `_) * fix(dummy_perception_publisher): independent of pointcloud from detection_success_rate * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* perf(dummy_perception_publisher): tune ego-centric pointcloud generation of dummy perception publisher (`#926 `_) +* perf(dummy_perception_publisher): tune ego-centric pointcloud generation of dummy perception publisher (`#926 `_) * Take advantage of visible range * Tune * Fix: typo * Use hypot -* fix(dummy_perception_publisher): publish multiple layers of pointcloud (`#882 `_) +* fix(dummy_perception_publisher): publish multiple layers of pointcloud (`#882 `_) * fix: single -> multiple layers pointcloud * refactor: share common among different pcloud creators -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove bad chars (`#845 `_) -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* feat(dummy_perception_publisher): publish realistic dummy pointcloud using raymarchig (`#527 `_) +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* feat(dummy_perception_publisher): publish realistic dummy pointcloud using raymarchig (`#527 `_) * Create pointcloud by raycasting from vehicle * [after-review] Use vector of ObjectInfo * [after-review] Implemented by strategy pattern @@ -688,28 +688,28 @@ Changelog for package dummy_perception_publisher * Fix typo * Fix: create merged pointcloud when no idx is selected * Use ray-maching by default -* fix(dummy_perception_publisher): modify build error in rolling (`#761 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* fix(dummy_perception_publisher): modify build error in rolling (`#761 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: move empty_objects_publisher (`#613 `_) +* feat: move empty_objects_publisher (`#613 `_) * feat: move empty_objects_publisher * fix group of empty_object_publisher -* fix(dummy_perception_publisher): modified objects also use baselink z-position (`#588 `_) -* revert(dummy_perception): change leaf size and disable ray trace (`#468 `_) - * Revert "chore(dummy_perception_publisher): change raytrace param (`#414 `_)" +* fix(dummy_perception_publisher): modified objects also use baselink z-position (`#588 `_) +* revert(dummy_perception): change leaf size and disable ray trace (`#468 `_) + * Revert "chore(dummy_perception_publisher): change raytrace param (`#414 `_)" This reverts commit d29e0e1d6630ef53edea1dd66bebf1a657aa6e8b. * chore(dummy_perception): revert change leaf size and disable raytrace -* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) +* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) * feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simualtor.launch.xml * remove perception launching dummy_perception_publisher.launch.xml * remove unnecessary comment -* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) +* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) * fix(dummy_perception): fix to use launch file in perception launch * fix(tier4_perception_launch): fix angle increment for occupancy grid -* chore(dummy_perception_publisher): change raytrace param (`#414 `_) -* chore: replace legacy timer (`#329 `_) +* chore(dummy_perception_publisher): change raytrace param (`#414 `_) +* chore: replace legacy timer (`#329 `_) * chore(goal_distance_calculator): replace legacy timer * chore(path_distance_calculator): replace legacy timer * chore(control_performance_analysis): replace legacy timer @@ -744,8 +744,8 @@ Changelog for package dummy_perception_publisher * chore(external_cmd_converter): replace legacy timer * chore(pacmod_interface): replace legacy timer * chore(lint): apply pre-commit -* fix(dummy_perception): fix ns and topic (`#242 `_) -* feat: change launch package name (`#186 `_) +* fix(dummy_perception): fix ns and topic (`#242 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch @@ -763,7 +763,7 @@ Changelog for package dummy_perception_publisher Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tanaka3 Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -771,56 +771,56 @@ Changelog for package dummy_perception_publisher * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add dummy perception publisher (`#90 `_) +* feat: add dummy perception publisher (`#90 `_) * release v0.4.0 - * add use_object_recognition flag in dummy_perception_publisher (`#696 `_) + * add use_object_recognition flag in dummy_perception_publisher (`#696 `_) * remove ROS1 packages temporarily * add sample ros2 packages * remove ROS1 packages * Revert "remove ROS1 packages temporarily" This reverts commit 2e9822586a3539a32653e6bcd378715674b519ca. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * Port dummy_perception_publisher to ROS2 (`#90 `_) + * Rename launch files to launch.xml (`#28 `_) + * Port dummy_perception_publisher to ROS2 (`#90 `_) * Port dummy_perception_publisher to ROS2 * Uncrustify * Lint * Copyright * Period * Further ament_cpplint fixes - * Convert calls of Duration to Duration::from_seconds where appropriate (`#131 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Convert calls of Duration to Duration::from_seconds where appropriate (`#131 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * adding linters to dummy_perception_publisher (`#220 `_) - * [dummy_perception_publisher] fix launch file and installation (`#215 `_) + * adding linters to dummy_perception_publisher (`#220 `_) + * [dummy_perception_publisher] fix launch file and installation (`#215 `_) * [dummy_perception_publisher] fix launch file and installation * Apply suggestions from code review Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe - * reduce terminal ouput for better error message visibility (`#200 `_) + * reduce terminal ouput for better error message visibility (`#200 `_) * reduce terminal ouput for better error message visibility * [costmap_generator] fix waiting for first transform * fix tests * fix test - * modify launch file for making psim work (`#238 `_) + * modify launch file for making psim work (`#238 `_) * modify launch file for making psim work * remove unnecesary ns - * Ros2 v0.8.0 dummy perception publisher (`#286 `_) - * Remove "/" in frame_id (`#406 `_) - * Fix transform (`#420 `_) + * Ros2 v0.8.0 dummy perception publisher (`#286 `_) + * Remove "/" in frame_id (`#406 `_) + * Fix transform (`#420 `_) * Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform * Fix canTransform * Fix test - * add use_sim-time option (`#454 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Diable dummy_perception_publisher if argument 'scenario_simulation' i… (`#1275 `_) + * add use_sim-time option (`#454 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Diable dummy_perception_publisher if argument 'scenario_simulation' i… (`#1275 `_) * Diable dummy_perception_publisher if argument 'scenario_simulation' is true * Rename argument to 'disable_dummy_perception_publisher_node' from 'scenario_simulation' - * change theta step for obj point cloud (`#1280 `_) - * Revert changes of PR `#1275 `_ (`#1377 `_) - * Add pre-commit (`#1560 `_) + * change theta step for obj point cloud (`#1280 `_) + * Revert changes of PR `#1275 `_ (`#1377 `_) + * Add pre-commit (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -840,19 +840,19 @@ Changelog for package dummy_perception_publisher Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Fix dependency type of rosidl_default_generators (`#1801 `_) + * Fix dependency type of rosidl_default_generators (`#1801 `_) * Fix dependency type of rosidl_default_generators * Remove unnecessary depends * Use ament_cmake_auto - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * fix topic namespace (`#2054 `_) - * add sort-package-xml hook in pre-commit (`#1881 `_) + * fix topic namespace (`#2054 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -866,8 +866,8 @@ Changelog for package dummy_perception_publisher * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Feature/porting occlusion spot (`#1740 `_) - * Feature/occlusion_spot safety planner public road (`#1594 `_) + * Feature/porting occlusion spot (`#1740 `_) + * Feature/occlusion_spot safety planner public road (`#1594 `_) * add blind spot safety planner public road * remove duplicated procesing * remove unused private param @@ -907,7 +907,7 @@ Changelog for package dummy_perception_publisher * set more realistic param * add lanelet subtype highway * cosmetic change of reviews - * add occlusion spot module in private area (`#1640 `_) + * add occlusion spot module in private area (`#1640 `_) * add occlusion spot in private * For debugging change * add spline interpolation to path @@ -960,7 +960,7 @@ Changelog for package dummy_perception_publisher * fix spell check * fix default value Co-authored-by: tkimura4 - * Feature/occlusion spot private slice size param (`#1703 `_) + * Feature/occlusion spot private slice size param (`#1703 `_) * add min slice size * for a bit narrow lateral distance * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml @@ -979,7 +979,7 @@ Changelog for package dummy_perception_publisher Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -991,13 +991,13 @@ Changelog for package dummy_perception_publisher * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * port dummy perception publisher to auto (`#562 `_) + * Add COLCON_IGNORE (`#500 `_) + * port dummy perception publisher to auto (`#562 `_) * port dummy perception publisher to auto * autoware_perception_msgs/DynamicObjectWithFeatureArray convert to autoware_perception_msgs/DetectedObjectsWithFeature * change tracked objects to PREDICTED objects * separate pub type with real - * Add README.md to dummy perception publisher (`#641 `_) + * Add README.md to dummy perception publisher (`#641 `_) * Added readme for dummy_perception_pub * README update * README update @@ -1010,7 +1010,7 @@ Changelog for package dummy_perception_publisher * Modified README.md * change parameter name * Update README.md - * [shape_estimation]change type (`#663 `_) + * [shape_estimation]change type (`#663 `_) * change output type of shape_estimation * remove unused function * add dynamic_object_converter @@ -1026,9 +1026,9 @@ Changelog for package dummy_perception_publisher * fix readme * fix convert function * change topic name of DynamicObjectsWithFeature - * Fix no ground pointcloud topic name (`#733 `_) + * Fix no ground pointcloud topic name (`#733 `_) Co-authored-by: j4tfwm6z - * auto/fix occupancy grid name space in dummy perception publisher (`#739 `_) + * auto/fix occupancy grid name space in dummy perception publisher (`#739 `_) * fix name space * change namespace: object_segmentation -> obstacle_segmentation * feat: add use_traffic_light status diff --git a/simulator/fault_injection/CHANGELOG.rst b/simulator/fault_injection/CHANGELOG.rst index 0fe14cbeefa11..f62dd6c5cbc69 100644 --- a/simulator/fault_injection/CHANGELOG.rst +++ b/simulator/fault_injection/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package fault_injection 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) +* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) rename ndt diag -* feat(fault injection): change for diagnostic graph aggregator (`#6750 `_) +* feat(fault injection): change for diagnostic graph aggregator (`#6750 `_) * feat: change to adapt diagnostic graph aggregator * Change the configuration to adapt to both system_error_monitor and diagnostic_graph_aggregator * style(pre-commit): autofix @@ -29,10 +29,10 @@ Changelog for package fault_injection 0.26.0 (2024-04-03) ------------------- -* refactor(localization_error_monitor): rename localization_accuracy (`#5178 `_) +* refactor(localization_error_monitor): rename localization_accuracy (`#5178 `_) refactor: Rename localization_accuracy to localization_error_ellipse -* fix(fault_injection_node): fix history_depth in subscriber qos (`#4042 `_) +* fix(fault_injection_node): fix history_depth in subscriber qos (`#4042 `_) * fix(fault_injection_node): fix history_depth in sub qos * fix(fault_injection_node): add test cases * fix(fault_injection): fix test @@ -40,7 +40,7 @@ Changelog for package fault_injection * ref(test_fault_injection): remove unused import --------- Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -48,45 +48,45 @@ Changelog for package fault_injection --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(fault injection): add find package to cmake (`#2973 `_) +* fix(fault injection): add find package to cmake (`#2973 `_) * fix(fault injection) add find package to cmake * feat: add pluginlib to dependency --------- -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(fault_injection): fix diag name (`#958 `_) -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* fix(fault_injection): fix diag name (`#958 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix: apply fixes for rolling (`#821 `_) +* fix: apply fixes for rolling (`#821 `_) * fix(component_interface_utils): add USE_DEPRECATED_TO_YAML * fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER * add rclcpp_components to package.xml * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(fault_injection): fix empty hardware_id (`#814 `_) -* fix(fault_injection): modify build error in rolling (`#762 `_) +* fix(fault_injection): fix empty hardware_id (`#814 `_) +* fix(fault_injection): modify build error in rolling (`#762 `_) * fix(fault_injection): modify build error in rolling * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(fault_injection): fix launch_testing (`#489 `_) +* fix(fault_injection): fix launch_testing (`#489 `_) * fix(fault_injection): fix launch_testing * add label * add todo comment -* ci: check include guard (`#438 `_) +* ci: check include guard (`#438 `_) * ci: check include guard * apply pre-commit * Update .pre-commit-config.yaml @@ -94,7 +94,7 @@ Changelog for package fault_injection * fix: pre-commit Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -111,7 +111,7 @@ Changelog for package fault_injection * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -119,8 +119,8 @@ Changelog for package fault_injection * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add fault_injection packages (`#101 `_) - * Add fault injection package (`#1760 `_) +* feat: add fault_injection packages (`#101 `_) + * Add fault injection package (`#1760 `_) * add fault injection package * fix copyright url * fix for lint @@ -214,17 +214,17 @@ Changelog for package fault_injection * remove read_parameter * expand timeout * comment out launch_test - * Fix a broken link of the component diagram on Fault Injection document (`#2202 `_) - * [Fault injection] Update component diagram (`#2203 `_) + * Fix a broken link of the component diagram on Fault Injection document (`#2202 `_) + * [Fault injection] Update component diagram (`#2203 `_) * Update component diagram * Rename pSim to scenario_simulator_v2 * fix upload error * Transparent background - * Fix line widths of the component diagram on Fault Injection document (`#2205 `_) - * Feature/add fault injection settings (`#2199 `_) + * Fix line widths of the component diagram on Fault Injection document (`#2205 `_) + * Feature/add fault injection settings (`#2199 `_) * add parameter file * add message - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -236,9 +236,9 @@ Changelog for package fault_injection * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove colcon_ignore in fault injection (`#585 `_) - * update readme in fault injection (`#644 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove colcon_ignore in fault injection (`#585 `_) + * update readme in fault injection (`#644 `_) * Update readme in fault_injection * fix precommit Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/learning_based_vehicle_model/CHANGELOG.rst index dc7ef365d2642..183535778ffec 100644 --- a/simulator/learning_based_vehicle_model/CHANGELOG.rst +++ b/simulator/learning_based_vehicle_model/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package learning_based_vehicle_model 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(learning_based_vehicle_model): fix passedByValue (`#8244 `_) +* fix(learning_based_vehicle_model): fix passedByValue (`#8244 `_) * fix:passedByValue * fix:clang format --------- -* fix(learning_based_vehicle_model): fix constVariableReference (`#8061 `_) +* fix(learning_based_vehicle_model): fix constVariableReference (`#8061 `_) fix:constVariableReference -* fix(learning_based_vehicle_model): fix constVariablePointer warning (`#7575 `_) +* fix(learning_based_vehicle_model): fix constVariablePointer warning (`#7575 `_) * fix constVariablePointer warning * add reference --------- -* feat(learned_model): create package (`#6395 `_) +* feat(learned_model): create package (`#6395 `_) Co-authored-by: Tomas Nagy * Contributors: Ryuta Kambe, Tomas Nagy, Yutaka Kondo, kobayu858 diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/simple_planning_simulator/CHANGELOG.rst index 5f9e3570b86f1..76c12ecf37f41 100644 --- a/simulator/simple_planning_simulator/CHANGELOG.rst +++ b/simulator/simple_planning_simulator/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package simple_planning_simulator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(simple_planning_simulator): change orger of IDX in SimModelDelayS… (`#9128 `_) -* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) +* fix(simple_planning_simulator): change orger of IDX in SimModelDelayS… (`#9128 `_) +* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) swap row and column -* chore(simple_planning_simulator): remove unnecessary lines (`#8932 `_) +* chore(simple_planning_simulator): remove unnecessary lines (`#8932 `_) remove unnecessary semicolons -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(simple_planning_simulator): delete velocity dead band for brake (`#8685 `_) +* fix(simple_planning_simulator): delete velocity dead band for brake (`#8685 `_) * delete dead band -* fix(simple_planning_simulator): increase test_steer_map values (`#8631 `_) -* feat(simple_planning_simulator): print actual and expected value in test (`#8630 `_) -* fix(simple_planning_simulator): fix dimension (`#8629 `_) -* fix(simple_planning_simulator): fix acc output for the model sim_model_delay_steer_acc_geared_wo_fall_guard (`#8607 `_) +* fix(simple_planning_simulator): increase test_steer_map values (`#8631 `_) +* feat(simple_planning_simulator): print actual and expected value in test (`#8630 `_) +* fix(simple_planning_simulator): fix dimension (`#8629 `_) +* fix(simple_planning_simulator): fix acc output for the model sim_model_delay_steer_acc_geared_wo_fall_guard (`#8607 `_) fix acceleration output -* feat(simple_planning_simulator): add VGR sim model (`#8415 `_) +* feat(simple_planning_simulator): add VGR sim model (`#8415 `_) * feat(simple_planning_simulator): add VGR sim model * Update simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp * move to interface * add const --------- -* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) -* fix(simple_planning_simulator): fix publised acc of actuation simulator (`#8169 `_) -* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) +* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) +* fix(simple_planning_simulator): fix publised acc of actuation simulator (`#8169 `_) +* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) * feat(simple_planning_simulator): add actuation command simulator tmp add @@ -43,20 +43,20 @@ Changelog for package simple_planning_simulator * fix typo --------- Co-authored-by: Takamasa Horibe -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(simple_planning_simulator): add new vehicle model with falling down (`#7651 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(simple_planning_simulator): add new vehicle model with falling down (`#7651 `_) * add new vehicle model -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(simple_planning_simulator): fix duplicateBranch warnings (`#7574 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(simple_planning_simulator): fix duplicateBranch warnings (`#7574 `_) * fix(simple_planning_simulator): fix duplicateBranch warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -91,28 +91,28 @@ Changelog for package simple_planning_simulator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(simple_planning_simulator): remove static odom tf publisher (`#7265 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) +* refactor(simple_planning_simulator): remove static odom tf publisher (`#7265 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat!: remove autoware_auto_tf2 package (`#7218 `_) +* feat!: remove autoware_auto_tf2 package (`#7218 `_) * feat!: remove autoware_auto_geometry package * docs: remove autoware_auto_geometry package from docs * feat!: remove autoware_auto_tf2 package * fix: remove from autoware_auto_tf2 packages from docs page --------- -* chore(simple_planning_simulator): add maintainer (`#7026 `_) -* chore(simple_planning_simulator): publish control mode before the self-position is given (`#7008 `_) -* feat(learned_model): create package (`#6395 `_) +* chore(simple_planning_simulator): add maintainer (`#7026 `_) +* chore(simple_planning_simulator): publish control mode before the self-position is given (`#7008 `_) +* feat(learned_model): create package (`#6395 `_) Co-authored-by: Tomas Nagy * Contributors: Autumn60, Dawid Moszyński, Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Tomas Nagy, Tomoya Kimura, Yuki TAKAGI, Yutaka Kondo, Zulfaqar Azmi 0.26.0 (2024-04-03) ------------------- -* feat(simple_planning_simulator): add enable_road_slope_simulation param (`#5933 `_) -* fix(log-messages): reduce excessive log messages (`#5971 `_) -* fix(simple_planning_simulator): fix steering bias model (`#6240 `_) +* feat(simple_planning_simulator): add enable_road_slope_simulation param (`#5933 `_) +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* fix(simple_planning_simulator): fix steering bias model (`#6240 `_) * fix(simple_planning_simulator): fix steering bias model * remove old implementation * fix initialize order @@ -126,24 +126,24 @@ Changelog for package simple_planning_simulator * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp --------- Co-authored-by: kosuke55 -* feat(simple_planning_simulator): add option to use initialpose for z position (`#4256 `_) +* feat(simple_planning_simulator): add option to use initialpose for z position (`#4256 `_) * feat(simple_planning_simulator): add option to use initialpose for z position * Revert "feat(simple_planning_simulator): add option to use initialpose for z position" This reverts commit a3e2779cd38841ba49e063c42fc3a2366c176ad6. * update initial z logic --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) * fix(autoware_auto_common): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(simple_planning_simulator): add mesurent_steer_bias (`#5868 `_) +* feat(simple_planning_simulator): add mesurent_steer_bias (`#5868 `_) * feat(simple_planning_simulator): add mesurent_steer_bias * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(simple_plannign_simulator): add map acc model (`#5688 `_) +* feat(simple_plannign_simulator): add map acc model (`#5688 `_) * (simple_planning_simulator):add delay converter model * refactoring rename and format @@ -182,19 +182,19 @@ Changelog for package simple_planning_simulator Co-authored-by: Takumi Ito Co-authored-by: Takamasa Horibe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(simple_planning_simulator): fix ego sign pitch problem (`#5616 `_) +* fix(simple_planning_simulator): fix ego sign pitch problem (`#5616 `_) * fix ego sign pitch problem * change variable name for clarity * update documentation to clarify that driving against the lane is not supported --------- -* fix(simple_planning_simulator): change default value of manual gear, DRIVE -> PARK (`#5563 `_) -* feat(simple_planning_simulator): add acceleration and steer command scaling factor for debug (`#5534 `_) +* fix(simple_planning_simulator): change default value of manual gear, DRIVE -> PARK (`#5563 `_) +* feat(simple_planning_simulator): add acceleration and steer command scaling factor for debug (`#5534 `_) * feat(simple_planning_simulator): add acceleration and steer command scaling factor * update params as debug --------- -* fix(simple_planning_simulator): set ego pitch to 0 if road slope is not simulated (`#5501 `_) +* fix(simple_planning_simulator): set ego pitch to 0 if road slope is not simulated (`#5501 `_) set ego pitch to 0 if road slope is not simulated -* feat(simple_planning_simulator): add steer dead band (`#5477 `_) +* feat(simple_planning_simulator): add steer dead band (`#5477 `_) * feat(simple_planning_simulator): add steer dead band * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp Co-authored-by: Takamasa Horibe @@ -203,31 +203,31 @@ Changelog for package simple_planning_simulator * update params --------- Co-authored-by: Takamasa Horibe -* fix(simple_planning_simulator): initialize variables (`#5460 `_) -* feat(simple_planning_sim): publish lateral acceleration (`#5307 `_) -* fix(simulator, controller): fix inverse pitch calculation (`#5199 `_) +* fix(simple_planning_simulator): initialize variables (`#5460 `_) +* feat(simple_planning_sim): publish lateral acceleration (`#5307 `_) +* fix(simulator, controller): fix inverse pitch calculation (`#5199 `_) Co-authored-by: Takamasa Horibe -* fix(simple_planning_simulator): fix build error (`#5062 `_) -* feat(simple_planning_simulator): consider ego pitch angle for simulation (`#4941 `_) +* fix(simple_planning_simulator): fix build error (`#5062 `_) +* feat(simple_planning_simulator): consider ego pitch angle for simulation (`#4941 `_) * feat(simple_planning_simulator): consider ego pitch angle for simulation * update * fix spell * update --------- -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* docs(simple_planning_simulator): rename docs to readme (`#4221 `_) -* fix(simple_planning_simulator): old style arg for static_tf_publisher (`#3736 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* docs(simple_planning_simulator): rename docs to readme (`#4221 `_) +* fix(simple_planning_simulator): old style arg for static_tf_publisher (`#3736 `_) * fix(simple_planning_simulator): old style arg for static_tf_publisher * Update simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -235,36 +235,36 @@ Changelog for package simple_planning_simulator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(simple_planning_sim): publish sensing interface imu data (`#2843 `_) +* feat(simple_planning_sim): publish sensing interface imu data (`#2843 `_) * feat(simple_planning_sim): publish sensing interface imu data * fix covariance index --------- -* chore(planning-sim): change debug topic name (`#2610 `_) -* fix(simple_planning_simulator): fix ideal steer acc calc (`#2595 `_) -* refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) -* feat(simple_planning_simulator): add initial twist for debug purpose (`#2268 `_) -* chore(simple_planning_simulator): add maintainer (`#2444 `_) +* chore(planning-sim): change debug topic name (`#2610 `_) +* fix(simple_planning_simulator): fix ideal steer acc calc (`#2595 `_) +* refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) +* feat(simple_planning_simulator): add initial twist for debug purpose (`#2268 `_) +* chore(simple_planning_simulator): add maintainer (`#2444 `_) chore(simple_planning_simulator): add maintainer Co-authored-by: Takamasa Horibe -* fix(simple_planning_simulator): sim model with gear acc (`#2437 `_) -* chore: remove autoware_auto_common dependency from simple_planning_simulator and osqp_interface (`#2233 `_) +* fix(simple_planning_simulator): sim model with gear acc (`#2437 `_) +* chore: remove autoware_auto_common dependency from simple_planning_simulator and osqp_interface (`#2233 `_) remove autoware_auto_common dependency from simple_planning_simulator, osqp_interface -* chore: remove motion_common dependency (`#2231 `_) +* chore: remove motion_common dependency (`#2231 `_) * remove motion_common from smoother * remove motion_common from control_performance_analysis and simple_planning_simualtor * fix include * add include -* refactor!: remove tier4 control mode msg (`#1533 `_) +* refactor!: remove tier4 control mode msg (`#1533 `_) * [simple_planning_simulator] replace T4 ControlMode msg too auto_msg * [operation_mode_transition_manager] replace T4 ControlMode msg too auto_msg -* refactor(simple_planning_simulator): refactor covariance index (`#1972 `_) -* feat(pose_initializer)!: support ad api (`#1500 `_) +* refactor(simple_planning_simulator): refactor covariance index (`#1972 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -280,8 +280,8 @@ Changelog for package simple_planning_simulator * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(simple_planning_simulator): fix param file levels (`#1612 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* fix(simple_planning_simulator): fix param file levels (`#1612 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -314,8 +314,8 @@ Changelog for package simple_planning_simulator * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(simple_planning_simulator): fix timer type (`#1538 `_) -* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) +* fix(simple_planning_simulator): fix timer type (`#1538 `_) +* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) * add engage_transition_manager * rename to operation mode transition manager * fix precommit @@ -326,59 +326,59 @@ Changelog for package simple_planning_simulator * add allow_autonomous_in_stopped * fix typo * fix precommit -* feat(simple_planning_simulator): add acceleration publisher (`#1214 `_) +* feat(simple_planning_simulator): add acceleration publisher (`#1214 `_) * feat(simple_planning_simulator): add acceleration publisher * add cov -* feat(simple_planning_simulator): add control_mode server (`#1061 `_) +* feat(simple_planning_simulator): add control_mode server (`#1061 `_) * add control-mode in simulator * precommit * update * update readme * update simulator * fix typo -* fix(simple_planning_simlator): keep alive tf (`#1175 `_) +* fix(simple_planning_simlator): keep alive tf (`#1175 `_) * fix(simple_planning_simlator): keep alive tf * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs(simulator): fixed simple_planning_simulator table (`#1025 `_) -* docs: update link style and fix typos (`#950 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* docs(simulator): fixed simple_planning_simulator table (`#1025 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * docs: update link style * chore: fix link - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) - * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) - * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) * fixed panel type * modified instruction for rosbag replay case * modified update_map_dir service name - * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) * skipping emplace back stop reason if it is empty * add braces * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> - * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) * feat(behavior_path_planner): Weakened noise filtering of drivable area * fix lanelet's longitudinal disconnection * add comments of erode/dilate process - * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) * refactor(vehicle-cmd-gate): using namespace for msgs * for clang - * feat(pose_initializer): introduce an array copy function (`#900 `_) + * feat(pose_initializer): introduce an array copy function (`#900 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug (`#865 `_) * feat: add lidar point filter when debug * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -386,18 +386,18 @@ Changelog for package simple_planning_simulator * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment - * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay - * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries (`#923 `_) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo - * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) * fix: extend following and previous search range to avoid no collision * chore: add debug marker * fix: simplify logic @@ -407,11 +407,11 @@ Changelog for package simple_planning_simulator * ci(pre-commit): autofix * fix: delete debug code Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround obstacle checker): update documentation (`#878 `_) * docs(surround_obstacle_checker): update pub/sub topics & params * docs(surround_obstacle_checker): remove unused files * docs(surround_obstacke_checker): update purpose - * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) * feat(tier4_autoware_utils): add vehicle state checker * fix(tier4_autoware_utils): use absolute value * feat(tier4_autoware_utils): divide into two classies @@ -421,20 +421,20 @@ Changelog for package simple_planning_simulator * fix(tier4_autoware_utils): into same loop * fix(tier4_autoware_utils): fix variables name * fix(tier4_autoware_utils): remove redundant codes - * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point * Modify overwriteStopPoint input and output - * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) * feat(obstacle_avoidance_planner) fix bug of stop line unalignment * fix bug of unsorted output points * move calcVelocity in node.cpp * fix build error - * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) - * fix(system_monitor): add some smart information to diagnostics (`#708 `_) - * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) * feat(obstacle_avoidance_planner): dealt with close lane change * fix bug of right lane change - * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -444,17 +444,17 @@ Changelog for package simple_planning_simulator * update config * remove unnecessary files * update tier4_planning_launch params - * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) - * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check * feat: use marker helper - * feat(map_loader): visualize center line by points (`#931 `_) + * feat(map_loader): visualize center line by points (`#931 `_) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space - * feat: add RTC interface (`#765 `_) + * feat: add RTC interface (`#765 `_) * feature(rtc_interface): add files * feature(rtc_interface): implement functions * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md @@ -466,23 +466,23 @@ Changelog for package simple_planning_simulator * feature(rtc_interface): add isRegistered and clearCooperateStatus * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore: sync files (`#911 `_) + * chore: sync files (`#911 `_) Co-authored-by: kenji-miyake - * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) * fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex - * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node * feat(tensorrt_yolo): update arg Co-authored-by: Kaan Colak - * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string @@ -521,24 +521,24 @@ Changelog for package simple_planning_simulator Co-authored-by: Kaan Çolak Co-authored-by: Kaan Colak Co-authored-by: Kenji Miyake -* feat(vehicle_info_util): add max_steer_angle (`#740 `_) +* feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove bad chars (`#845 `_) -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) * fix(autoware_auto_common): modify build error in rolling * fix(autoware_auto_tf2): modify build error in rolling * fix(autoware_auto_geometry): modify build error in rolling @@ -548,7 +548,7 @@ Changelog for package simple_planning_simulator * fix(simple_planning_simulator): modify build error in rolling * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): clear the exclude option (`#426 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -560,35 +560,35 @@ Changelog for package simple_planning_simulator * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(simple_planning_simulator): fix bug in function to apply noise (`#665 `_) -* test(simple_planning_simulator): add node test (`#422 `_) +* fix(simple_planning_simulator): fix bug in function to apply noise (`#665 `_) +* test(simple_planning_simulator): add node test (`#422 `_) * test(simple_planning_simulator): add node test * use TEST_P -* fix(simple psim): gear bug to update state in simple psim (`#370 `_) +* fix(simple psim): gear bug to update state in simple psim (`#370 `_) * fix(simple psim): gear bug to update state in simple psim * upadte ideal acc geared model as well -* fix: simple psim with vehicle engage (`#301 `_) +* fix: simple psim with vehicle engage (`#301 `_) * feat: add initial_engage_state for /vehicle/engage sub result * feat: simulating only when vehicle engage is true -* feat(simple_planning_simulator): add delay model of velocity and steering (`#235 `_) +* feat(simple_planning_simulator): add delay model of velocity and steering (`#235 `_) * add delay steer vel in psim * change wz to steer * fix param description * modify readme * modify cmake * ci: change file URL - * fix: order to create callback (`#220 `_) + * fix: order to create callback (`#220 `_) Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> - * chore: remove unnecessary depends (`#227 `_) + * chore: remove unnecessary depends (`#227 `_) * ci: add check-build-depends.yaml * chore: simplify build_depends.repos * chore: remove exec_depend * chore: use register-autonomoustuff-repository * chore: add setup tasks to other workflows - * ci: update .yamllint.yaml (`#229 `_) + * ci: update .yamllint.yaml (`#229 `_) * ci: update .yamllint.yaml * chore: fix for yamllint - * fix: remove warning for compile error (`#198 `_) + * fix: remove warning for compile error (`#198 `_) * fix: fix compile error of pointcloud preprocessor * fix: fix compiler warning for had map utils * fix: fix compiler warning for behavior velocity planner @@ -596,12 +596,12 @@ Changelog for package simple_planning_simulator * fix: fix compiler warning for occupancy grid map outlier filter * fix: fix compiler warning for detection by tracker * fix: restore comment - * fix: set control_mode false before autoware engage (`#232 `_) + * fix: set control_mode false before autoware engage (`#232 `_) * fix: set control_mode false before autoware engage * add input/engage remap in launch - * fix: library path (`#225 `_) + * fix: library path (`#225 `_) Co-authored-by: taikitanaka3 - * fix: interpolation (`#791 `_) (`#218 `_) + * fix: interpolation (`#791 `_) (`#218 `_) Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * add missing function definition in .cpp * set input and state for DELAY_STEER_VEL model @@ -614,16 +614,16 @@ Changelog for package simple_planning_simulator Co-authored-by: Takayuki Murooka Co-authored-by: taikitanaka3 Co-authored-by: Tomoya Kimura -* fix: set control_mode false before autoware engage (`#232 `_) +* fix: set control_mode false before autoware engage (`#232 `_) * fix: set control_mode false before autoware engage * add input/engage remap in launch -* feat: replace VehicleStateCommand with GearCommand (`#217 `_) +* feat: replace VehicleStateCommand with GearCommand (`#217 `_) Co-authored-by: Tomoya Kimura -* fix: fix typo and url (`#201 `_) +* fix: fix typo and url (`#201 `_) * fix typo * fix url (jp -> en) Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -640,10 +640,10 @@ Changelog for package simple_planning_simulator * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: update simple planning simulator param file (`#179 `_) +* fix: update simple planning simulator param file (`#179 `_) Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat: add simulator_launch package (`#166 `_) - * Add simulator_launch package (`#459 `_) +* feat: add simulator_launch package (`#166 `_) + * Add simulator_launch package (`#459 `_) * Add simulator_launch package * add argument * fix depend order @@ -653,7 +653,7 @@ Changelog for package simple_planning_simulator * Update simulator_launch/launch/simulator.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Move simple_planning_simulator to simulator_launch (`#462 `_) + * Move simple_planning_simulator to simulator_launch (`#462 `_) * move simple_planning_simulator * add simulation arg to logging_simulator.launch * delete unused argument @@ -662,17 +662,17 @@ Changelog for package simple_planning_simulator * update README * add default value to simulator arg * restore vehicle_simulation arg - * Fix/revert initial engage state (`#484 `_) + * Fix/revert initial engage state (`#484 `_) * Fix args * Add initial_engage_state to vehicle.launch.xml * Update vehicle.launch.xml - * Change formatter to black (`#488 `_) + * Change formatter to black (`#488 `_) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends - * Auto/fix launch (`#110 `_) + * Auto/fix launch (`#110 `_) * fix namespace * remove dynamic_object_visualization * fix rviz @@ -684,7 +684,7 @@ Changelog for package simple_planning_simulator Co-authored-by: Kenji Miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat: load vehicle info default param (`#148 `_) +* feat: load vehicle info default param (`#148 `_) * update global_parameter loader readme * remove unused dependency * add default vehicle_info_param to launch files @@ -698,7 +698,7 @@ Changelog for package simple_planning_simulator * ci(pre-commit): autofix Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -706,33 +706,33 @@ Changelog for package simple_planning_simulator * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add simple planning simulator package (`#5 `_) +* feat: add simple planning simulator package (`#5 `_) * release v0.4.0 * remove ROS1 packages temporarily * add sample ros2 packages * add COLCON_IGNORE to ros1 packages - * Fix simple planning simulator (`#26 `_) + * Fix simple planning simulator (`#26 `_) * simple planning simulator: fix params & launch file * remove unused file * fix timercallback - * [simple_planning_simulator] add rostopic relay in launch file (`#117 `_) + * [simple_planning_simulator] add rostopic relay in launch file (`#117 `_) * [simple_planning_simulator] add rostopic relay in launch file * add topic_tools as exec_depend - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * reduce terminal ouput for better error message visibility (`#200 `_) + * reduce terminal ouput for better error message visibility (`#200 `_) * reduce terminal ouput for better error message visibility * [costmap_generator] fix waiting for first transform * fix tests * fix test - * Use trajectory for z position source (`#243 `_) - * Ros2 v0.8.0 engage (`#342 `_) + * Use trajectory for z position source (`#243 `_) + * Ros2 v0.8.0 engage (`#342 `_) * [autoware_vehicle_msgs]: Add engage message * [as]: Update message * [awapi_awiv_adapter]: Update message @@ -741,7 +741,7 @@ Changelog for package simple_planning_simulator * [autoware_state_monitor]: Update message * [autoware_control_msgs]: Remove EngageMode message * [simple_planning_simulator]: Update message - * Ros2 v0.8.0 fix packages (`#351 `_) + * Ros2 v0.8.0 fix packages (`#351 `_) * add subscription to QoS * add vihicle_param _file to simple_planning_sim * update cmake/packages.xml @@ -755,27 +755,27 @@ Changelog for package simple_planning_simulator * apply lint * add latch option to autoware_state_monitor * delete unused comment - * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * Fix typo in simulator module (`#439 `_) - * add use_sim-time option (`#454 `_) - * Format launch files (`#1219 `_) - * Fix rolling build errors (`#1225 `_) + * Fix typo in simulator module (`#439 `_) + * add use_sim-time option (`#454 `_) + * Format launch files (`#1219 `_) + * Fix rolling build errors (`#1225 `_) * Add missing include files * Replace rclcpp::Duration * Use reference for exceptions * Use from_seconds - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) * add readme of simple_planning_simulator * Update simulator/simple_planning_simulator/README.md - * set transit_margin_time to intersect. planner (`#460 `_) - * Fix pose2twist (`#462 `_) - * Ros2 vehicle info param server (`#447 `_) + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) * add vehicle_info_param_server * update vehicle info * apply format @@ -783,7 +783,7 @@ Changelog for package simple_planning_simulator * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * Ros2 fix topic name part2 (`#425 `_) * Fix topic name of traffic_light_classifier * Fix topic name of traffic_light_visualization * Fix topic name of traffic_light_ssd_fine_detector @@ -793,19 +793,19 @@ Changelog for package simple_planning_simulator * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * Fix issues in hdd_reader (`#466 `_) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct - * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) - * Rviz overlay render fix (`#461 `_) + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified * acquire data in mutex * back to RTD as superclass - * Rviz overlay render in update (`#465 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -819,8 +819,8 @@ Changelog for package simple_planning_simulator Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Remove use_sim_time for set_parameter (`#1260 `_) - * Refactor vehicle info util (`#1305 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Refactor vehicle info util (`#1305 `_) * Update license * Refactor vehicle_info_util * Rename and split files @@ -828,10 +828,10 @@ Changelog for package simple_planning_simulator * Fix bug and add error handling * Add "// namespace" * Add missing include - * Fix lint errors (`#1378 `_) + * Fix lint errors (`#1378 `_) * Fix lint errors * Fix variable names - * Add pre-commit (`#1560 `_) + * Add pre-commit (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -851,25 +851,25 @@ Changelog for package simple_planning_simulator Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier (`#1661 `_) * Add markdownlint and prettier * Ignore .param.yaml * Apply format - * add cov pub in psim (`#1732 `_) - * Fix -Wunused-parameter (`#1836 `_) + * add cov pub in psim (`#1732 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * fix some typos (`#1941 `_) + * fix some typos (`#1941 `_) * fix some typos * fix typo * Fix typo Co-authored-by: Kenji Miyake - * Add autoware api (`#1979 `_) - * add sort-package-xml hook in pre-commit (`#1881 `_) + * Add autoware api (`#1979 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -883,12 +883,12 @@ Changelog for package simple_planning_simulator * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Feature/add ideal accel model interface (`#1894 `_) + * Feature/add ideal accel model interface (`#1894 `_) * Add IDEAL_ACCEL model interface for simple planning simulator * Add IDEAL_ACCEL model descriptions * Fix format * Change vehicle model type description at config file - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -900,60 +900,60 @@ Changelog for package simple_planning_simulator * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * Back port .auto control packages (`#571 `_) + * Add COLCON_IGNORE (`#500 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -977,7 +977,7 @@ Changelog for package simple_planning_simulator Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * [simple planning simulator]change type of msg (`#590 `_) + * [simple planning simulator]change type of msg (`#590 `_) * remove kinematic_state * remove vehicle_state_command/report * get z-position from trajectory @@ -990,19 +990,19 @@ Changelog for package simple_planning_simulator Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix typo Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) + * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) * fix console meter * fix velocity_history * fix route handler * change topic name - * update to support velocity report header (`#655 `_) + * update to support velocity report header (`#655 `_) * update to support velocity report header * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp Co-authored-by: tkimura4 * use maybe_unused * fix precommit Co-authored-by: tkimura4 - * adapt to actuation cmd/status as control msg (`#646 `_) + * adapt to actuation cmd/status as control msg (`#646 `_) * adapt to actuation cmd/status as control msg * fix readme * fix topics @@ -1013,38 +1013,38 @@ Changelog for package simple_planning_simulator * revert gyro_odometer_change * revert twist topic change * revert unchanged package - * FIx vehicle status topic name/type (`#658 `_) + * FIx vehicle status topic name/type (`#658 `_) * shift -> gear_status * twist -> velocity_status - * fix topic name (`#674 `_) + * fix topic name (`#674 `_) * fix topic name * fix gear message name - * Fix psim param path (`#696 `_) - * Fix/psim topics emergency handler awapi (`#702 `_) + * Fix psim param path (`#696 `_) + * Fix/psim topics emergency handler awapi (`#702 `_) * fix emergency handler * fix awapi * remove unused topic * remove duplecated vehicle cmd - * Auto/add turn indicators and hazards (`#717 `_) + * Auto/add turn indicators and hazards (`#717 `_) * add turn indicators * add hazard light * omit name space * remap topic name * delete unnecessary blank line - * [simple_planning_simulator]fix bug (`#727 `_) + * [simple_planning_simulator]fix bug (`#727 `_) * input z-axis of trajectory to pose(tf/odometry) * output 0 velocity when invalid gear is input - * fix gear process in sim (`#728 `_) - * Fix for integration test (`#732 `_) + * fix gear process in sim (`#728 `_) + * Fix for integration test (`#732 `_) * Add backward compatibility of autoware state * Add simulator initial pose service * Fix pre-commit * Fix pre-commit - * Simple planning simulator update for latest develop (`#735 `_) - * Refactor vehicle info util (`#1305 `_) - * add cov pub in psim (`#1732 `_) + * Simple planning simulator update for latest develop (`#735 `_) + * Refactor vehicle info util (`#1305 `_) + * add cov pub in psim (`#1732 `_) * remove pose_with_covariance publisher and add covariance information in Odometry - * Fix acceleration for reverse (`#737 `_) + * Fix acceleration for reverse (`#737 `_) * Fix acceleration for reverse * Fix acceleration in set_input * remove unused using diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/simple_planning_simulator/CMakeLists.txt index 07e7e6b5ad169..6acb74342c90f 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/simple_planning_simulator/CMakeLists.txt @@ -23,6 +23,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp src/simple_planning_simulator/utils/csv_loader.cpp + src/simple_planning_simulator/utils/mechanical_controller.cpp ) target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${learning_based_vehicle_model_INCLUDE_DIRS}) # Node executable diff --git a/simulator/simple_planning_simulator/README.md b/simulator/simple_planning_simulator/README.md index 1d91d5e6149b4..cd362c0115358 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/simple_planning_simulator/README.md @@ -65,32 +65,38 @@ The purpose of this simulator is for the integration test of planning and contro - `DELAY_STEER_ACC_GEARED_WO_FALL_GUARD` - `DELAY_STEER_MAP_ACC_GEARED`: applies 1D dynamics and time delay to the steering and acceleration commands. The simulated acceleration is determined by a value converted through the provided acceleration map. This model is valuable for an accurate simulation with acceleration deviations in a real vehicle. - `LEARNED_STEER_VEL`: launches learned python models. More about this [here](../learning_based_vehicle_model). -- `ACTUATION_CMD`: A simulator model that receives `ACTUATION_CMD`. In this case, the `raw_vehicle_cmd_converter` is also launched. + +The following models receive `ACTUATION_CMD` generated from `raw_vehicle_cmd_converter`. Therefore, when these models are selected, the `raw_vehicle_cmd_converter` is also launched. + +- `ACTUATION_CMD`: This model only converts accel/brake commands and use steer command as it is. +- `ACTUATION_CMD_STEER_MAP`: The steer command is converted to the steer rate command using the steer map. +- `ACTUATION_CMD_VGR`: The steer command is converted to the steer rate command using the variable gear ratio. +- `ACTUATION_CMD_MECHANICAL`: This model has mechanical dynamics and controller for that. The `IDEAL` model moves ideally as commanded, while the `DELAY` model moves based on a 1st-order with time delay model. The `STEER` means the model receives the steer command. The `VEL` means the model receives the target velocity command, while the `ACC` model receives the target acceleration command. The `GEARED` suffix means that the motion will consider the gear command: the vehicle moves only one direction following the gear. The table below shows which models correspond to what parameters. The model names are written in abbreviated form (e.g. IDEAL_STEER_VEL = I_ST_V). -| Name | Type | Description | I_ST_V | I_ST_A | I_ST_A_G | D_ST_V | D_ST_A | D_ST_A_G | D_ST_A_G_WO_FG | D_ST_M_ACC_G | L_S_V | Default value | unit | -| :------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :----- | :----- | :------- | :----- | :----- | :------- | :------------- | :----------- | :---- | :------------ | :------ | -| acc_time_delay | double | dead time for the acceleration input | x | x | x | x | o | o | o | o | x | 0.1 | [s] | -| steer_time_delay | double | dead time for the steering input | x | x | x | o | o | o | o | o | x | 0.24 | [s] | -| vel_time_delay | double | dead time for the velocity input | x | x | x | o | x | x | x | x | x | 0.25 | [s] | -| acc_time_constant | double | time constant of the 1st-order acceleration dynamics | x | x | x | x | o | o | o | o | x | 0.1 | [s] | -| steer_time_constant | double | time constant of the 1st-order steering dynamics | x | x | x | o | o | o | o | o | x | 0.27 | [s] | -| steer_dead_band | double | dead band for steering angle | x | x | x | o | o | o | o | x | x | 0.0 | [rad] | -| vel_time_constant | double | time constant of the 1st-order velocity dynamics | x | x | x | o | x | x | x | x | x | 0.5 | [s] | -| vel_lim | double | limit of velocity | x | x | x | o | o | o | o | o | x | 50.0 | [m/s] | -| vel_rate_lim | double | limit of acceleration | x | x | x | o | o | o | o | o | x | 7.0 | [m/ss] | -| steer_lim | double | limit of steering angle | x | x | x | o | o | o | o | o | x | 1.0 | [rad] | -| steer_rate_lim | double | limit of steering angle change rate | x | x | x | o | o | o | o | o | x | 5.0 | [rad/s] | -| steer_bias | double | bias for steering angle | x | x | x | o | o | o | o | o | x | 0.0 | [rad] | -| debug_acc_scaling_factor | double | scaling factor for accel command | x | x | x | x | o | o | o | x | x | 1.0 | [-] | -| debug_steer_scaling_factor | double | scaling factor for steer command | x | x | x | x | o | o | o | x | x | 1.0 | [-] | -| acceleration_map_path | string | path to csv file for acceleration map which converts velocity and ideal acceleration to actual acceleration | x | x | x | x | x | x | x | o | x | - | [-] | -| model_module_paths | string | path to a python module where the model is implemented | x | x | x | x | x | x | x | x | o | - | [-] | -| model_param_paths | string | path to the file where model parameters are stored (can be empty string if no parameter file is required) | x | x | x | x | x | x | x | x | o | - | [-] | -| model_class_names | string | name of the class that implements the model | x | x | x | x | x | x | x | x | o | - | [-] | +| Name | Type | Description | I_ST_V | I_ST_A | I_ST_A_G | D_ST_V | D_ST_A | D_ST_A_G | D_ST_A_G_WO_FG | D_ST_M_ACC_G | L_S_V | A_C | Default value | unit | +| :------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :----- | :----- | :------- | :----- | :----- | :------- | :------------- | :----------- | :---- | :-- | :------------ | :------ | +| acc_time_delay | double | dead time for the acceleration input | x | x | x | x | o | o | o | o | x | x | 0.1 | [s] | +| steer_time_delay | double | dead time for the steering input | x | x | x | o | o | o | o | o | x | o | 0.24 | [s] | +| vel_time_delay | double | dead time for the velocity input | x | x | x | o | x | x | x | x | x | x | 0.25 | [s] | +| acc_time_constant | double | time constant of the 1st-order acceleration dynamics | x | x | x | x | o | o | o | o | x | x | 0.1 | [s] | +| steer_time_constant | double | time constant of the 1st-order steering dynamics | x | x | x | o | o | o | o | o | x | o | 0.27 | [s] | +| steer_dead_band | double | dead band for steering angle | x | x | x | o | o | o | o | x | x | o | 0.0 | [rad] | +| vel_time_constant | double | time constant of the 1st-order velocity dynamics | x | x | x | o | x | x | x | x | x | x | 0.5 | [s] | +| vel_lim | double | limit of velocity | x | x | x | o | o | o | o | o | x | x | 50.0 | [m/s] | +| vel_rate_lim | double | limit of acceleration | x | x | x | o | o | o | o | o | x | x | 7.0 | [m/ss] | +| steer_lim | double | limit of steering angle | x | x | x | o | o | o | o | o | x | o | 1.0 | [rad] | +| steer_rate_lim | double | limit of steering angle change rate | x | x | x | o | o | o | o | o | x | o | 5.0 | [rad/s] | +| steer_bias | double | bias for steering angle | x | x | x | o | o | o | o | o | x | o | 0.0 | [rad] | +| debug_acc_scaling_factor | double | scaling factor for accel command | x | x | x | x | o | o | o | x | x | x | 1.0 | [-] | +| debug_steer_scaling_factor | double | scaling factor for steer command | x | x | x | x | o | o | o | x | x | x | 1.0 | [-] | +| acceleration_map_path | string | path to csv file for acceleration map which converts velocity and ideal acceleration to actual acceleration | x | x | x | x | x | x | x | o | x | x | - | [-] | +| model_module_paths | string | path to a python module where the model is implemented | x | x | x | x | x | x | x | x | o | x | - | [-] | +| model_param_paths | string | path to the file where model parameters are stored (can be empty string if no parameter file is required) | x | x | x | x | x | x | x | x | o | x | - | [-] | +| model_class_names | string | name of the class that implements the model | x | x | x | x | x | x | x | x | o | x | - | [-] | _Note:_ Parameters `model_module_paths`, `model_param_paths`, and `model_class_names` need to have the same length. @@ -125,32 +131,8 @@ default, 0.00, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 1 ##### ACTUATION_CMD model -The simple_planning_simulator usually operates by receiving Control commands, but when the `ACTUATION_CMD` model is selected, it receives Actuation commands instead of Control commands. This model can simulate the motion using the vehicle command that is actually sent to the real vehicle. Therefore, when this model is selected, the `raw_vehicle_cmd_converter` is also launched. - -`convert_steer_cmd_method` has two options: "vgr" and "steer_map". If you choose "vgr" (variable gear ratio), it is assumed that the steering wheel angle is sent as the actuation command, and the value is converted to the steering tire angle to move the model. If you choose "steer_map", it is assumed that an arbitrary value is sent as the actuation command, and the value is converted to the steering tire rate to move the model. An arbitrary value is like EPS (Electric Power Steering) Voltage . `enable_pub_steer` determines whether to publish the steering tire angle. If false, it is expected to be converted and published from actuation_status in other nodes (e.g. raw_vehicle_cmd_converter). - -![vgr_sim](./media/vgr_sim.drawio.svg) - -```yaml - -``` - -The parameters used in the ACTUATION_CMD are as follows. - -| Name | Type | Description | unit | -| :----------------------- | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--- | -| accel_time_delay | double | dead time for the acceleration input | [s] | -| accel_time_constant | double | time constant of the 1st-order acceleration dynamics | [s] | -| brake_time_delay | double | dead time for the brake input | [s] | -| brake_time_constant | double | time constant of the 1st-order brake dynamics | [s] | -| convert_accel_cmd | bool | If true, it is assumed that the command is received converted to an accel actuation value, and it is converted back to acceleration value inside the simulator. | [-] | -| convert_brake_cmd | bool | If true, it is assumed that the command is received converted to a brake actuation value, and it is converted back to acceleration value inside the simulator. | [-] | -| convert_steer_cmd | bool | If true, it is assumed that the command is received converted to a steer actuation value, and it is converted back to steer rate value inside the simulator. | [-] | -| convert_steer_cmd_method | bool | method to convert steer command. You can choose from "vgr" and "steer_map". | [-] | -| vgr_coef_a | double | the value of the coefficient a of the variable gear ratio | [-] | -| vgr_coef_b | double | the value of the coefficient b of the variable gear ratio | [-] | -| vgr_coef_c | double | the value of the coefficient c of the variable gear ratio | [-] | -| enable_pub_steer | bool | whether to publish the steering tire angle. if false, it is expected to be converted and published from actuation_status in other nodes (e.g. raw_vehicle_cmd_converter) | [-] | +The simple_planning_simulator usually operates by receiving Control commands, but when the `ACTUATION_CMD*` model is selected, it receives Actuation commands instead of Control commands. This model can simulate the motion using the vehicle command that is actually sent to the real vehicle. Therefore, when this model is selected, the `raw_vehicle_cmd_converter` is also launched. +Please refer to the [actuation_cmd_sim.md](./docs/actuation_cmd_sim.md) for more details. diff --git a/simulator/simple_planning_simulator/docs/actuation_cmd_sim.md b/simulator/simple_planning_simulator/docs/actuation_cmd_sim.md new file mode 100644 index 0000000000000..5219b20b6dbaf --- /dev/null +++ b/simulator/simple_planning_simulator/docs/actuation_cmd_sim.md @@ -0,0 +1,105 @@ +# ACTUATION_CMD model + +The simple_planning_simulator usually operates by receiving Control commands, but when the `ACTUATION_CMD*` model is selected, it receives Actuation commands instead of Control commands. This model can simulate the motion using the vehicle command that is actually sent to the real vehicle. Therefore, when this model is selected, the `raw_vehicle_cmd_converter` is also launched. + +## ACTUATION_CMD + +This model receives the accel/brake commands and converts them using the map to calculate the motion of the model. The steer command is used as it is. +Please make sure that the raw_vehicle_cmd_converter is configured as follows. + +```yaml +convert_accel_cmd: true +convert_brake_cmd: true +convert_steer_cmd: false +``` + +## ACTUATION_CMD_STEER_MAP + +This model is inherited from ACTUATION_CMD and receives steering arbitrary value as the actuation command. +The value is converted to the steering tire rate to calculate the motion of the model. An arbitrary value is like EPS (Electric Power Steering) Voltage. + +Please make sure that the raw_vehicle_cmd_converter is configured as follows. + +```yaml +convert_accel_cmd: true +convert_brake_cmd: true +convert_steer_cmd: true +``` + +## ACTUATION_CMD_VGR + +This model is inherited from ACTUATION_CMD and steering wheel angle is sent as the actuation command. +The value is converted to the steering tire angle to calculate the motion of the model. + +Please make sure that the raw_vehicle_cmd_converter is configured as follows. + +```yaml +convert_accel_cmd: true +convert_brake_cmd: true +convert_steer_cmd: true +``` + +![vgr_sim](../media/vgr_sim.drawio.svg) + +## ACTUATION_CMD_MECHANICAL + +This model is inherited from ACTUATION_CMD_VGR nad has mechanical dynamics and controller for that to simulate the mechanical structure and software of the real vehicle. + +Please make sure that the raw_vehicle_cmd_converter is configured as follows. + +```yaml +convert_accel_cmd: true +convert_brake_cmd: true +convert_steer_cmd: true +``` + +The mechanical structure of the vehicle is as follows. + +![mechanical_controller](../media/mechanical_controller.drawio.svg) + +The vehicle side software assumes that it has limiters, PID controllers, power steering, etc. for the input. +The conversion in the power steering is approximated by a polynomial. +Steering Dynamics is a model that represents the motion of the tire angle when the Steering Torque is input. It is represented by the following formula. + +```math +\begin{align} +\dot{\theta} &= \omega \\ +\dot{\omega} &= \frac{1}{I} (T_{\text{input}} - D \omega - K \theta - \text{sign}(\omega) F_{\text{friction}} ) \\ +\end{align} +``` + +In this case, + +- $\theta$ : Tire angle +- $\omega$ : Tire angular velocity +- $T_{\text{input}}$ : Input torque +- $D$ : Damping coefficient +- $K$ : Spring constant +- $F_{\text{friction}}$ : Friction force +- $I$ : Moment of inertia + +Also, this dynamics has a dead zone. +The steering rotation direction is different from the steering torque input direction, and the steering torque input is less than the dead zone threshold, it enters the dead zone. Once it enters the dead zone, it is judged to be in the dead zone until there is a steering input above the dead zone threshold. When in the dead zone, the steering tire angle does not move. + +Please refer to the following file for the values of the parameters that have been system-identified using the actual vehicle's driving data. +The blue line is the control input, the green line is the actual vehicle's tire angle output, and the red line is the simulator's tire angle output. +[mechanical_sample_param](../param/simple_planning_simulator_mechanical_sample.param.yaml) + +This model has a smaller sum of errors with the observed values of the actual vehicle than when tuned with a normal first-order lag model. For details, please refer to [#9252](https://github.com/autowarefoundation/autoware.universe/pull/9300). + +![mechanical_controller_system_identification](../media/mechanical_controller_system_identification.png) + +The parameters used in the ACTUATION_CMD are as follows. + +| Name | Type | Description | unit | +| :------------------ | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--- | +| accel_time_delay | double | dead time for the acceleration input | [s] | +| accel_time_constant | double | time constant of the 1st-order acceleration dynamics | [s] | +| brake_time_delay | double | dead time for the brake input | [s] | +| brake_time_constant | double | time constant of the 1st-order brake dynamics | [s] | +| convert_accel_cmd | bool | If true, it is assumed that the command is received converted to an accel actuation value, and it is converted back to acceleration value inside the simulator. | [-] | +| convert_brake_cmd | bool | If true, it is assumed that the command is received converted to a brake actuation value, and it is converted back to acceleration value inside the simulator. | [-] | +| vgr_coef_a | double | the value of the coefficient a of the variable gear ratio | [-] | +| vgr_coef_b | double | the value of the coefficient b of the variable gear ratio | [-] | +| vgr_coef_c | double | the value of the coefficient c of the variable gear ratio | [-] | +| enable_pub_steer | bool | whether to publish the steering tire angle. if false, it is expected to be converted and published from actuation_status in other nodes (e.g. raw_vehicle_cmd_converter) | [-] | diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp index 76fdf5bdda6c9..3e54bca245f82 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp @@ -224,7 +224,10 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node DELAY_STEER_MAP_ACC_GEARED = 6, LEARNED_STEER_VEL = 7, DELAY_STEER_ACC_GEARED_WO_FALL_GUARD = 8, - ACTUATION_CMD = 9 + ACTUATION_CMD = 9, + ACTUATION_CMD_VGR = 10, + ACTUATION_CMD_MECHANICAL = 11, + ACTUATION_CMD_STEER_MAP = 12, } vehicle_model_type_; //!< @brief vehicle model type to decide the model dynamics std::shared_ptr vehicle_model_ptr_; //!< @brief vehicle model pointer diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp new file mode 100644 index 0000000000000..fcb8d41dd72b5 --- /dev/null +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp @@ -0,0 +1,208 @@ +// Copyright 2024 The Autoware Foundation. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ +#define SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ + +#include +#include +#include +#include +#include + +namespace autoware::simple_planning_simulator::utils::mechanical_controller +{ + +using DelayBuffer = std::deque>; +using DelayOutput = std::pair, DelayBuffer>; + +DelayOutput delay( + const double signal, const double delay_time, const DelayBuffer & buffer, + const double elapsed_time); + +double sign(const double x); + +double apply_limits( + const double current_angle, const double previous_angle, const double angle_limit, + const double rate_limit, const double dt); + +double feedforward(const double input_angle, const double ff_gain); + +double polynomial_transform( + const double torque, const double speed, const double a, const double b, const double c, + const double d, const double e, const double f, const double g, const double h); + +struct PIDControllerParams +{ + double kp{0.0}; + double ki{0.0}; + double kd{0.0}; +}; + +struct PIDControllerState +{ + double integral{0.0}; + double error{0.0}; +}; + +class PIDController +{ +public: + PIDController(const double kp, const double ki, const double kd); + + [[nodiscard]] double compute( + const double error, const double integral, const double prev_error, const double dt) const; + + void update_state(const double error, const double dt); + + void update_state( + const double k1_error, const double k2_error, const double k3_error, const double k4_error, + const double dt); + + [[nodiscard]] PIDControllerState get_state() const; + + void clear_state(); + +private: + double kp_{0.0}, ki_{0.0}, kd_{0.0}; + PIDControllerState state_; +}; + +struct SteeringDynamicsParams +{ + double angular_position{0.0}; + double angular_velocity{0.0}; + double inertia{0.0}; + double damping{0.0}; + double stiffness{0.0}; + double friction{0.0}; + double dead_zone_threshold{0.0}; +}; + +struct SteeringDynamicsState +{ + double angular_position{0.0}; + double angular_velocity{0.0}; + bool is_in_dead_zone{false}; +}; + +struct SteeringDynamicsDeltaState +{ + double d_angular_position{0.0}; + double d_angular_velocity{0.0}; +}; + +/** + * @brief SteeringDynamics class + * @details This class calculates the dynamics which receives the steering torque and outputs the + * steering tire angle. The steering system is modeled as a spring-damper system with friction and + * dead zone. + */ +class SteeringDynamics +{ +public: + SteeringDynamics( + const double angular_position, const double angular_velocity, const double inertia, + const double damping, const double stiffness, const double friction, + const double dead_zone_threshold); + + [[nodiscard]] bool is_in_dead_zone( + const SteeringDynamicsState & state, const double input_torque) const; + + [[nodiscard]] SteeringDynamicsDeltaState calc_model( + const SteeringDynamicsState & state, const double input_torque) const; + + void set_state(const SteeringDynamicsState & state); + + [[nodiscard]] SteeringDynamicsState get_state() const; + + void clear_state(); + + void set_steer(const double steer); + +private: + SteeringDynamicsState state_; + const double inertia_; + const double damping_; + const double stiffness_; + const double friction_; + const double dead_zone_threshold_; +}; + +struct StepResult +{ + DelayBuffer delay_buffer{}; + double pid_error{0.0}; + SteeringDynamicsDeltaState dynamics_d_state{}; + bool is_in_dead_zone{false}; +}; + +struct MechanicalParams +{ + double kp{0.0}; + double ki{0.0}; + double kd{0.0}; + double ff_gain{0.0}; + double dead_zone_threshold{0.0}; + double poly_a{0.0}; + double poly_b{0.0}; + double poly_c{0.0}; + double poly_d{0.0}; + double poly_e{0.0}; + double poly_f{0.0}; + double poly_g{0.0}; + double poly_h{0.0}; + double inertia{0.0}; + double damping{0.0}; + double stiffness{0.0}; + double friction{0.0}; + double delay_time{0.0}; + + // limit + double angle_limit{0.0}; + double rate_limit{0.0}; + double steering_torque_limit{0.0}; + double torque_delay_time{0.0}; +}; + +class MechanicalController +{ +public: + explicit MechanicalController(const MechanicalParams & mechanical_params); + + [[maybe_unused]] double update_euler( + const double input_angle, const double speed, const double prev_input_angle, const double dt); + + double update_runge_kutta( + const double input_angle, const double speed, const double prev_input_angle, const double dt); + + void clear_state(); + + void set_steer(const double steer); + +private: + DelayBuffer delay_buffer_; + PIDController pid_; + SteeringDynamics steering_dynamics_; + const MechanicalParams params_; + + [[nodiscard]] StepResult run_one_step( + const double input_angle, const double speed, const double prev_input_angle, const double dt, + const DelayBuffer & delay_buffer, const PIDController & pid, + const SteeringDynamics & dynamics) const; +}; + +} // namespace autoware::simple_planning_simulator::utils::mechanical_controller + +#endif // SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp index b78ec8ccd538a..25fac72d283ee 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp @@ -19,15 +19,20 @@ #include "eigen3/Eigen/Core" #include "eigen3/Eigen/LU" #include "simple_planning_simulator/utils/csv_loader.hpp" +#include "simple_planning_simulator/utils/mechanical_controller.hpp" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include +#include #include #include #include #include +using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalController; +using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalParams; + /** * @class ActuationMap * @brief class to convert from actuation command to control command @@ -101,10 +106,8 @@ class BrakeMap : public ActuationMap class SimModelActuationCmd : public SimModelInterface { public: - enum class ActuationSimType { VGR, STEER_MAP }; - /** - * @brief constructor (adaptive gear ratio conversion model) + * @brief constructor (only longitudinal) * @param [in] vx_lim velocity limit [m/s] * @param [in] steer_lim steering limit [rad] * @param [in] vx_rate_lim acceleration limit [m/ss] @@ -120,49 +123,15 @@ class SimModelActuationCmd : public SimModelInterface * @param [in] steer_bias steering bias [rad] * @param [in] convert_accel_cmd flag to convert accel command * @param [in] convert_brake_cmd flag to convert brake command - * @param [in] convert_steer_cmd flag to convert steer command - * @param [in] accel_map_path path to csv file for accel conversion map - * @param [in] brake_map_path path to csv file for brake conversion map - * @param [in] vgr_coef_a coefficient for variable gear ratio - * @param [in] vgr_coef_b coefficient for variable gear ratio - * @param [in] vgr_coef_c coefficient for variable gear ratio - */ - SimModelActuationCmd( - double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, - double dt, double accel_delay, double accel_time_constant, double brake_delay, - double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, - bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, - std::string accel_map_path, std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, - double vgr_coef_c); - - /** - * @brief constructor (steer map conversion model) - * @param [in] vx_lim velocity limit [m/s] - * @param [in] steer_lim steering limit [rad] - * @param [in] vx_rate_lim acceleration limit [m/ss] - * @param [in] steer_rate_lim steering angular velocity limit [rad/ss] - * @param [in] wheelbase vehicle wheelbase length [m] - * @param [in] dt delta time information to set input buffer for delay - * @param [in] accel_delay time delay for accel command [s] - * @param [in] acc_time_constant time constant for 1D model of accel dynamics - * @param [in] brake_delay time delay for brake command [s] - * @param [in] brake_time_constant time constant for 1D model of brake dynamics - * @param [in] steer_delay time delay for steering command [s] - * @param [in] steer_time_constant time constant for 1D model of steering dynamics - * @param [in] steer_bias steering bias [rad] - * @param [in] convert_accel_cmd flag to convert accel command - * @param [in] convert_brake_cmd flag to convert brake command - * @param [in] convert_steer_cmd flag to convert steer command * @param [in] accel_map_path path to csv file for accel conversion map * @param [in] brake_map_path path to csv file for brake conversion map - * @param [in] steer_map_path path to csv file for steer conversion map */ SimModelActuationCmd( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double accel_delay, double accel_time_constant, double brake_delay, double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, - bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, - std::string accel_map_path, std::string brake_map_path, std::string steer_map_path); + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path); /** * @brief default destructor @@ -179,7 +148,7 @@ class SimModelActuationCmd : public SimModelInterface */ bool shouldPublishActuationStatus() const override { return true; } -private: +protected: const double MIN_TIME_CONSTANT; //!< @brief minimum time constant enum IDX { @@ -198,39 +167,29 @@ class SimModelActuationCmd : public SimModelInterface GEAR, }; - const double vx_lim_; //!< @brief velocity limit [m/s] - const double vx_rate_lim_; //!< @brief acceleration limit [m/ss] - const double steer_lim_; //!< @brief steering limit [rad] - const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] - const double wheelbase_; //!< @brief vehicle wheelbase length [m] - - std::deque accel_input_queue_; //!< @brief buffer for accel command - std::deque brake_input_queue_; //!< @brief buffer for brake command - std::deque steer_input_queue_; //!< @brief buffer for steering command - const double accel_delay_; //!< @brief time delay for accel command [s] - const double accel_time_constant_; //!< @brief time constant for accel dynamics - const double brake_delay_; //!< @brief time delay for brake command [s] - const double brake_time_constant_; //!< @brief time constant for brake dynamics - const double steer_delay_; //!< @brief time delay for steering command [s] - const double steer_time_constant_; //!< @brief time constant for steering dynamics - const double steer_bias_; //!< @brief steering angle bias [rad] - - bool convert_accel_cmd_; - bool convert_brake_cmd_; - bool convert_steer_cmd_; - - AccelMap accel_map_; - BrakeMap brake_map_; - ActuationMap steer_map_; - - // steer map conversion model - - // adaptive gear ratio conversion model - double vgr_coef_a_; - double vgr_coef_b_; - double vgr_coef_c_; - - ActuationSimType actuation_sim_type_{ActuationSimType::VGR}; + const double vx_lim_{0.0}; //!< @brief velocity limit [m/s] + const double vx_rate_lim_{0.0}; //!< @brief acceleration limit [m/ss] + const double steer_lim_{0.0}; //!< @brief steering limit [rad] + const double steer_rate_lim_{0.0}; //!< @brief steering angular velocity limit [rad/s] + const double wheelbase_{0.0}; //!< @brief vehicle wheelbase length [m] + + std::deque accel_input_queue_{}; //!< @brief buffer for accel command + std::deque brake_input_queue_{}; //!< @brief buffer for brake command + std::deque steer_input_queue_{}; //!< @brief buffer for steering command + const double accel_delay_{0.0}; //!< @brief time delay for accel command [s] + const double accel_time_constant_{0.0}; //!< @brief time constant for accel dynamics + const double brake_delay_{0.0}; //!< @brief time delay for brake command [s] + const double brake_time_constant_{0.0}; //!< @brief time constant for brake dynamics + const double steer_delay_{0.0}; //!< @brief time delay for steering command [s] + const double steer_time_constant_{0.0}; //!< @brief time constant for steering dynamics + const double steer_bias_{0.0}; //!< @brief steering angle bias [rad] + + bool convert_accel_cmd_{false}; + bool convert_brake_cmd_{false}; + bool convert_steer_cmd_{false}; + + AccelMap accel_map_{}; + BrakeMap brake_map_{}; /** * @brief set queue buffer for input command @@ -284,6 +243,24 @@ class SimModelActuationCmd : public SimModelInterface */ void update(const double & dt) override; + /** + * @brief calculate derivative of longitudinal states + * @param [in] state current model state + * @param [in] input input vector to model + * @return derivative of longitudinal states except steering + */ + Eigen::VectorXd calcLongitudinalModel( + const Eigen::VectorXd & state, const Eigen::VectorXd & input); + + /** + * @brief calculate derivative of lateral states + * @param [in] steer current steering angle [rad] + * @param [in] steer_input desired steering angle [rad] + * @param [in] vel current velocity [m/s] + * @return derivative of lateral states + */ + virtual double calcLateralModel(const double steer, const double steer_des, const double vel); + /** * @brief calculate derivative of states with time delay steering model * @param [in] state current model state @@ -301,7 +278,35 @@ class SimModelActuationCmd : public SimModelInterface void updateStateWithGear( Eigen::VectorXd & state, const Eigen::VectorXd & prev_state, const uint8_t gear, const double dt); +}; +class SimModelActuationCmdSteerMap : public SimModelActuationCmd +{ +public: + SimModelActuationCmdSteerMap( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, std::string steer_map_path); + +private: + double calcLateralModel(const double steer, const double steer_des, const double vel) override; + + ActuationMap steer_map_; +}; + +class SimModelActuationCmdVGR : public SimModelActuationCmd +{ +public: + SimModelActuationCmdVGR( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, double vgr_coef_c); + +protected: /** * @brief calculate steering tire command * @param [in] vel current velocity [m/s] @@ -321,6 +326,75 @@ class SimModelActuationCmd : public SimModelInterface * @return variable gear ratio */ double calculateVariableGearRatio(const double vel, const double steer_wheel) const; + +private: + double calcLateralModel(const double steer, const double steer_des, const double vel) override; + + // adaptive gear ratio conversion model + double vgr_coef_a_; + double vgr_coef_b_; + double vgr_coef_c_; +}; + +class SimModelActuationCmdMechanical : public SimModelActuationCmdVGR +{ +public: + /** + * @brief constructor (mechanical model) + * @param [in] vx_lim velocity limit [m/s] + * @param [in] steer_lim steering limit [rad] + * @param [in] vx_rate_lim acceleration limit [m/ss] + * @param [in] steer_rate_lim steering angular velocity limit [rad/ss] + * @param [in] wheelbase vehicle wheelbase length [m] + * @param [in] dt delta time information to set input buffer for delay + * @param [in] accel_delay time delay for accel command [s] + * @param [in] acc_time_constant time constant for 1D model of accel dynamics + * @param [in] brake_delay time delay for brake command [s] + * @param [in] brake_time_constant time constant for 1D model of brake dynamics + * @param [in] steer_delay time delay for steering command [s] + * @param [in] steer_time_constant time constant for 1D model of steering dynamics + * @param [in] steer_bias steering bias [rad] + * @param [in] convert_accel_cmd flag to convert accel command + * @param [in] convert_brake_cmd flag to convert brake command + * @param [in] convert_steer_cmd flag to convert steer command + * @param [in] accel_map_path path to csv file for accel conversion map + * @param [in] brake_map_path path to csv file for brake conversion map + * @param [in] vgr_coef_a coefficient for variable gear ratio + * @param [in] vgr_coef_b coefficient for variable gear ratio + * @param [in] vgr_coef_c coefficient for variable gear ratio + */ + SimModelActuationCmdMechanical( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, double vgr_coef_c, + MechanicalParams mechanical_params); + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double & dt) override; + + /** + * @brief update vehicle states with controller + * @details In updateRungeKutta, calcModel is called four times, but the internal state of PID and + * Dynamics should not be updated. Therefore, a method is prepared to update the internal state + * only once at the end without using the updateRungeKutta of the interface. + */ + void updateRungeKuttaWithController(const double dt, const Eigen::VectorXd & input); + + /** + * @brief set state + * @details This model needs to update mechanical dynamics state too + * @param [in] state state vector + */ + void setState(const Eigen::VectorXd & state) override; + +private: + std::unique_ptr mechanical_controller_; + double prev_steer_tire_des_{0.0}; // }; #endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp index f8d682a6e851c..5ca886b1b5847 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp @@ -64,12 +64,6 @@ class SimModelInterface */ void getInput(Eigen::VectorXd & input); - /** - * @brief set state vector of model - * @param [in] state state vector - */ - void setState(const Eigen::VectorXd & state); - /** * @brief set input vector of model * @param [in] input input vector @@ -96,6 +90,14 @@ class SimModelInterface */ void updateEuler(const double & dt, const Eigen::VectorXd & input); + /** + * @brief set state vector of model + * @details In some sim models, the state member should be updated as well. Therefore, this + * function is defined as virtual. + * @param [in] state state vector + */ + virtual void setState(const Eigen::VectorXd & state); + /** * @brief update vehicle states * @param [in] dt delta time [s] diff --git a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py index 9b31926a53d57..aed088de9fd22 100644 --- a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py +++ b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py @@ -106,10 +106,9 @@ def launch_setup(context, *args, **kwargs): # Determine if we should launch raw_vehicle_cmd_converter based on the vehicle_model_type with open(simulator_model_param_path, "r") as f: simulator_model_param_yaml = yaml.safe_load(f) - launch_vehicle_cmd_converter = ( - simulator_model_param_yaml["/**"]["ros__parameters"].get("vehicle_model_type") - == "ACTUATION_CMD" - ) + launch_vehicle_cmd_converter = "ACTUATION_CMD" in simulator_model_param_yaml["/**"][ + "ros__parameters" + ].get("vehicle_model_type") # 1) Launch only simple_planning_simulator_node if not launch_vehicle_cmd_converter: diff --git a/simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg b/simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg new file mode 100644 index 0000000000000..a595b2479d4c6 --- /dev/null +++ b/simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg @@ -0,0 +1,602 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+
+ + + + + + + + + + diff --git a/simulator/simple_planning_simulator/media/mechanical_controller_system_identification.png b/simulator/simple_planning_simulator/media/mechanical_controller_system_identification.png new file mode 100644 index 0000000000000..f96a5848b7fbc Binary files /dev/null and b/simulator/simple_planning_simulator/media/mechanical_controller_system_identification.png differ diff --git a/simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml b/simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml new file mode 100644 index 0000000000000..e844b07ba0693 --- /dev/null +++ b/simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml @@ -0,0 +1,62 @@ +/**: + ros__parameters: + simulated_frame_id: "base_link" + origin_frame_id: "map" + vehicle_model_type: "ACTUATION_CMD_MECHANICAL" + initialize_source: "INITIAL_POSE_TOPIC" + timer_sampling_time_ms: 25 + add_measurement_noise: False + enable_road_slope_simulation: True + vel_lim: 50.0 + vel_rate_lim: 7.0 + steer_lim: 1.0 + steer_rate_lim: 5.0 + acc_time_delay: 0.1 + acc_time_constant: 0.1 + steer_time_delay: 0.0 + steer_time_constant: 0.001 + steer_dead_band: 0.0 + x_stddev: 0.0001 # x standard deviation for dummy covariance in map coordinate + y_stddev: 0.0001 # y standard deviation for dummy covariance in map coordinate + + accel_time_delay: 0.1 + accel_time_constant: 0.1 + brake_time_delay: 0.1 + brake_time_constant: 0.1 + accel_map_path: $(find-pkg-share simple_planning_simulator)/data/actuation_cmd_map/accel_map.csv + brake_map_path: $(find-pkg-share simple_planning_simulator)/data/actuation_cmd_map/brake_map.csv + + convert_accel_cmd: true + convert_brake_cmd: true + + convert_steer_cmd_method: "vgr" + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + enable_pub_steer: true + + mechanical_params: + kp: 386.9151820510161 + ki: 5.460970982628869 + kd: 0.03550834077602694 + ff_gain: 0.03051963576179274 + angle_limit: 10.0 + rate_limit: 3.0 + dead_zone_threshold: 0.00708241866710033 + poly_a: 0.15251276182076065 + poly_b: -0.17301900674117585 + poly_c: 1.5896528355739639 + poly_d: 0.002300899817071436 + poly_e: -0.0418928856764797 + poly_f: 0.18449047960081838 + poly_g: -0.06320887302605509 + poly_h: 0.18696796150634806 + inertia: 25.17844747941984 + damping: 117.00653795106054 + stiffness: 0.17526182368541224 + friction: 0.6596571248682918 + vgr_coef_a: 2.4181735349544224 + vgr_coef_b: -0.013434076966833082 + vgr_coef_c: -0.033963661615283594 + steering_torque_limit: 30.0 + torque_delay_time: 0.0007641271506616108 diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 96cfa1587e646..685708844d32d 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -21,6 +21,7 @@ #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include "rclcpp_components/register_node_macro.hpp" #include "simple_planning_simulator/vehicle_model/sim_model.hpp" +#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" #include #include @@ -147,7 +148,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt // Initial value must be set to current_input_command_ with the correct type. // If not, the vehicle_model will not be updated, and it will die when publishing the state. const auto vehicle_model_type_str = declare_parameter("vehicle_model_type", "IDEAL_STEER_VEL"); - if (vehicle_model_type_str == "ACTUATION_CMD") { + if (vehicle_model_type_str.find("ACTUATION_CMD") != std::string::npos) { current_input_command_ = ActuationCommandStamped(); sub_actuation_cmd_ = create_subscription( "input/actuation_command", QoS{1}, @@ -311,9 +312,7 @@ void SimplePlanningSimulator::initialize_vehicle_model(const std::string & vehic vehicle_model_ptr_ = std::make_shared( timer_sampling_time_ms_ / 1000.0, model_module_paths, model_param_paths, model_class_names); - } else if (vehicle_model_type_str == "ACTUATION_CMD") { - vehicle_model_type_ = VehicleModelType::ACTUATION_CMD; - + } else if (vehicle_model_type_str.find("ACTUATION_CMD") != std::string::npos) { // time delay const double accel_time_delay = declare_parameter("accel_time_delay"); const double accel_time_constant = declare_parameter("accel_time_constant"); @@ -323,37 +322,77 @@ void SimplePlanningSimulator::initialize_vehicle_model(const std::string & vehic // command conversion flag const bool convert_accel_cmd = declare_parameter("convert_accel_cmd"); const bool convert_brake_cmd = declare_parameter("convert_brake_cmd"); - const bool convert_steer_cmd = declare_parameter("convert_steer_cmd"); // actuation conversion map const std::string accel_map_path = declare_parameter("accel_map_path"); const std::string brake_map_path = declare_parameter("brake_map_path"); - // init vehicle model depending on convert_steer_cmd_method - if (convert_steer_cmd) { - const std::string convert_steer_cmd_method = - declare_parameter("convert_steer_cmd_method"); - if (convert_steer_cmd_method == "vgr") { - const double vgr_coef_a = declare_parameter("vgr_coef_a"); - const double vgr_coef_b = declare_parameter("vgr_coef_b"); - const double vgr_coef_c = declare_parameter("vgr_coef_c"); - vehicle_model_ptr_ = std::make_shared( - vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, - timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, - brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, - convert_brake_cmd, convert_steer_cmd, accel_map_path, brake_map_path, vgr_coef_a, - vgr_coef_b, vgr_coef_c); - } else if (convert_steer_cmd_method == "steer_map") { - const std::string steer_map_path = declare_parameter("steer_map_path"); - vehicle_model_ptr_ = std::make_shared( - vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, - timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, - brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, - convert_brake_cmd, convert_steer_cmd, accel_map_path, brake_map_path, steer_map_path); - } else { - throw std::invalid_argument( - "Invalid convert_steer_cmd_method: " + convert_steer_cmd_method); - } + if (vehicle_model_type_str == "ACTUATION_CMD") { + vehicle_model_type_ = VehicleModelType::ACTUATION_CMD; + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, accel_map_path, brake_map_path); + } else if (vehicle_model_type_str == "ACTUATION_CMD_VGR") { + vehicle_model_type_ = VehicleModelType::ACTUATION_CMD_VGR; + const double vgr_coef_a = declare_parameter("vgr_coef_a"); + const double vgr_coef_b = declare_parameter("vgr_coef_b"); + const double vgr_coef_c = declare_parameter("vgr_coef_c"); + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, accel_map_path, brake_map_path, vgr_coef_a, vgr_coef_b, vgr_coef_c); + } else if (vehicle_model_type_str == "ACTUATION_CMD_MECHANICAL") { + vehicle_model_type_ = VehicleModelType::ACTUATION_CMD_MECHANICAL; + const double vgr_coef_a = declare_parameter("vgr_coef_a"); + const double vgr_coef_b = declare_parameter("vgr_coef_b"); + const double vgr_coef_c = declare_parameter("vgr_coef_c"); + + const MechanicalParams mechanical_params = std::invoke([this]() -> MechanicalParams { + const std::string ns = "mechanical_params."; + MechanicalParams p; + p.kp = declare_parameter(ns + "kp"); + p.ki = declare_parameter(ns + "ki"); + p.kd = declare_parameter(ns + "kd"); + p.ff_gain = declare_parameter(ns + "ff_gain"); + p.angle_limit = declare_parameter(ns + "angle_limit"); + p.rate_limit = declare_parameter(ns + "rate_limit"); + p.dead_zone_threshold = declare_parameter(ns + "dead_zone_threshold"); + p.poly_a = declare_parameter(ns + "poly_a"); + p.poly_b = declare_parameter(ns + "poly_b"); + p.poly_c = declare_parameter(ns + "poly_c"); + p.poly_d = declare_parameter(ns + "poly_d"); + p.poly_e = declare_parameter(ns + "poly_e"); + p.poly_f = declare_parameter(ns + "poly_f"); + p.poly_g = declare_parameter(ns + "poly_g"); + p.poly_h = declare_parameter(ns + "poly_h"); + p.inertia = declare_parameter(ns + "inertia"); + p.damping = declare_parameter(ns + "damping"); + p.stiffness = declare_parameter(ns + "stiffness"); + p.friction = declare_parameter(ns + "friction"); + p.steering_torque_limit = declare_parameter(ns + "steering_torque_limit"); + p.torque_delay_time = declare_parameter(ns + "torque_delay_time"); + return p; + }); + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, accel_map_path, brake_map_path, vgr_coef_a, vgr_coef_b, vgr_coef_c, + mechanical_params); + } else if (vehicle_model_type_str == "ACTUATION_CMD_STEER_MAP") { + vehicle_model_type_ = VehicleModelType::ACTUATION_CMD_STEER_MAP; + const std::string steer_map_path = declare_parameter("steer_map_path"); + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, accel_map_path, brake_map_path, steer_map_path); + } else { + throw std::invalid_argument( + "Invalid ACTUATION_CMD vehicle_model_type: " + vehicle_model_type_str); } } else { throw std::invalid_argument("Invalid vehicle_model_type: " + vehicle_model_type_str); @@ -710,7 +749,10 @@ void SimplePlanningSimulator::set_initial_state(const Pose & pose, const Twist & vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC_GEARED || vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC_GEARED_WO_FALL_GUARD || vehicle_model_type_ == VehicleModelType::DELAY_STEER_MAP_ACC_GEARED || - vehicle_model_type_ == VehicleModelType::ACTUATION_CMD) { + vehicle_model_type_ == VehicleModelType::ACTUATION_CMD || + vehicle_model_type_ == VehicleModelType::ACTUATION_CMD_VGR || + vehicle_model_type_ == VehicleModelType::ACTUATION_CMD_MECHANICAL || + vehicle_model_type_ == VehicleModelType::ACTUATION_CMD_STEER_MAP) { state << x, y, yaw, vx, steer, accx; } vehicle_model_ptr_->setState(state); diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp new file mode 100644 index 0000000000000..0977cd9e25a92 --- /dev/null +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp @@ -0,0 +1,352 @@ +// Copyright 2024 The Autoware Foundation. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "simple_planning_simulator/utils/mechanical_controller.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace autoware::simple_planning_simulator::utils::mechanical_controller +{ + +using DelayBuffer = std::deque>; +using DelayOutput = std::pair, DelayBuffer>; + +DelayOutput delay( + const double signal, const double delay_time, const DelayBuffer & buffer, + const double elapsed_time) +{ + DelayBuffer new_buffer = buffer; + + new_buffer.push_back(std::make_pair(signal, elapsed_time)); + + if (!buffer.empty() && (elapsed_time - new_buffer.front().second) >= delay_time) { + const double delayed_signal = new_buffer.front().first; + new_buffer.pop_front(); + return {delayed_signal, new_buffer}; + } else { + return {std::nullopt, new_buffer}; + } +} + +double sign(const double x) +{ + return (x >= 0.0) ? 1.0 : -1.0; +} + +double apply_limits( + const double current_angle, const double previous_angle, const double angle_limit, + const double rate_limit, const double dt) +{ + const double angle_diff = std::clamp(current_angle, -angle_limit, angle_limit) - previous_angle; + const double rate_limited_diff = std::clamp(angle_diff, -rate_limit * dt, rate_limit * dt); + return std::clamp(previous_angle + rate_limited_diff, -angle_limit, angle_limit); +} + +double feedforward(const double input_angle, const double ff_gain) +{ + return ff_gain * input_angle; +} + +double polynomial_transform( + const double torque, const double speed, const double a, const double b, const double c, + const double d, const double e, const double f, const double g, const double h) +{ + return a * torque * torque * torque + b * torque * torque + c * torque + + d * speed * speed * speed + e * speed * speed + f * speed + g * torque * speed + h; +} + +PIDController::PIDController(const double kp, const double ki, const double kd) +: kp_(kp), ki_(ki), kd_(kd), state_{0.0, 0.0} +{ +} + +double PIDController::compute( + const double error, const double integral, const double prev_error, const double dt) const +{ + const double p_term = kp_ * error; + const double i_term = ki_ * integral; + const double d_term = dt < 1e-6 ? 0.0 : kd_ * (error - prev_error) / dt; + + return p_term + i_term + d_term; +} + +void PIDController::update_state(const double error, const double dt) +{ + state_.integral += error * dt; + state_.error = error; +}; + +void PIDController::update_state( + const double k1_error, const double k2_error, const double k3_error, const double k4_error, + const double dt) +{ + state_.error = (k1_error + 2 * k2_error + 2 * k3_error + k4_error) / 6.0; + state_.integral += state_.error * dt; +}; + +PIDControllerState PIDController::get_state() const +{ + return state_; +} + +void PIDController::clear_state() +{ + state_ = {0.0, 0.0}; +} + +SteeringDynamics::SteeringDynamics( + const double angular_position, const double angular_velocity, const double inertia, + const double damping, const double stiffness, const double friction, + const double dead_zone_threshold) +: state_{angular_position, angular_velocity, false}, + inertia_(inertia), + damping_(damping), + stiffness_(stiffness), + friction_(friction), + dead_zone_threshold_(dead_zone_threshold) +{ +} + +bool SteeringDynamics::is_in_dead_zone( + const SteeringDynamicsState & state, const double input_torque) const +{ + bool is_in_dead_zone = state.is_in_dead_zone; + const int rotation_direction = sign(state.angular_velocity); + const int input_direction = sign(input_torque); + + if (input_direction != rotation_direction && std::abs(input_torque) < dead_zone_threshold_) { + return true; + } + + if (is_in_dead_zone) { + return !(dead_zone_threshold_ <= std::abs(input_torque)); + } + + return false; +} + +SteeringDynamicsDeltaState SteeringDynamics::calc_model( + const SteeringDynamicsState & state, const double input_torque) const +{ + const double friction_force = friction_ * sign(state.angular_velocity); + const double angular_acceleration = (input_torque - damping_ * state.angular_velocity - + stiffness_ * state.angular_position - friction_force) / + inertia_; + + const double d_angular_velocity = angular_acceleration; + const double d_angular_position = state.angular_velocity; + + return {d_angular_position, d_angular_velocity}; +} + +void SteeringDynamics::set_state(const SteeringDynamicsState & state) +{ + state_ = state; +} + +SteeringDynamicsState SteeringDynamics::get_state() const +{ + return state_; +} + +void SteeringDynamics::set_steer(const double steer) +{ + state_.angular_position = steer; +} + +void SteeringDynamics::clear_state() +{ + state_ = {0.0, 0.0, false}; +} + +MechanicalController::MechanicalController(const MechanicalParams & params) +: pid_(params.kp, params.ki, params.kd), + steering_dynamics_( + 0.0, 0.0, params.inertia, params.damping, params.stiffness, params.friction, + params.dead_zone_threshold), + params_(params) +{ +} + +void MechanicalController::clear_state() +{ + delay_buffer_.clear(); + pid_.clear_state(); + steering_dynamics_.clear_state(); +} + +void MechanicalController::set_steer(const double steer) +{ + steering_dynamics_.set_steer(steer); +} + +[[maybe_unused]] double MechanicalController::update_euler( + const double input_angle, const double speed, const double prev_input_angle, const double dt) +{ + const auto dynamics_state = steering_dynamics_.get_state(); + + const auto d_state = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, steering_dynamics_); + + const double d_angular_position = d_state.dynamics_d_state.d_angular_position; + const double d_angular_velocity = d_state.dynamics_d_state.d_angular_velocity; + + auto dynamics_state_new = dynamics_state; + dynamics_state_new.angular_position = std::clamp( + dynamics_state.angular_position + d_angular_position * dt, -params_.angle_limit, + params_.angle_limit); + dynamics_state_new.angular_velocity = std::clamp( + dynamics_state.angular_velocity + d_angular_velocity * dt, -params_.rate_limit, + params_.rate_limit); + dynamics_state_new.is_in_dead_zone = d_state.is_in_dead_zone; + steering_dynamics_.set_state(dynamics_state_new); + + pid_.update_state(d_state.pid_error, dt); + delay_buffer_ = d_state.delay_buffer; + + return dynamics_state_new.angular_position; +} + +double MechanicalController::update_runge_kutta( + const double input_angle, const double speed, const double prev_input_angle, const double dt) +{ + const auto dynamics_state = steering_dynamics_.get_state(); + + // NOTE: k1, k2, k3, k4 suffix denote the intermediate points of RK4 + const auto k1 = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, steering_dynamics_); + + auto dynamics_for_k2 = steering_dynamics_; + auto dynamics_state_for_k2 = steering_dynamics_.get_state(); + dynamics_state_for_k2.angular_position = + dynamics_state.angular_position + k1.dynamics_d_state.d_angular_position * 0.5 * dt; + dynamics_state_for_k2.angular_velocity = + dynamics_state.angular_velocity + k1.dynamics_d_state.d_angular_velocity * 0.5 * dt; + dynamics_for_k2.set_state(dynamics_state_for_k2); + const auto k2 = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, dynamics_for_k2); + + auto dynamics_for_k3 = steering_dynamics_; + auto dynamics_state_for_k3 = steering_dynamics_.get_state(); + dynamics_state_for_k3.angular_position = + dynamics_state.angular_position + k2.dynamics_d_state.d_angular_position * 0.5 * dt; + dynamics_state_for_k3.angular_velocity = + dynamics_state.angular_velocity + k2.dynamics_d_state.d_angular_velocity * 0.5 * dt; + dynamics_for_k3.set_state(dynamics_state_for_k3); + const auto k3 = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, dynamics_for_k3); + + auto dynamics_for_k4 = steering_dynamics_; + auto dynamics_state_for_k4 = steering_dynamics_.get_state(); + dynamics_state_for_k4.angular_position = + dynamics_state.angular_position + k3.dynamics_d_state.d_angular_position * dt; + dynamics_state_for_k4.angular_velocity = + dynamics_state.angular_velocity + k3.dynamics_d_state.d_angular_velocity * dt; + dynamics_for_k4.set_state(dynamics_state_for_k4); + const auto k4 = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, dynamics_for_k4); + + const double d_angular_position = + (k1.dynamics_d_state.d_angular_position + 2.0 * k2.dynamics_d_state.d_angular_position + + 2.0 * k3.dynamics_d_state.d_angular_position + k4.dynamics_d_state.d_angular_position) / + 6.0; + const double d_angular_velocity = + (k1.dynamics_d_state.d_angular_velocity + 2.0 * k2.dynamics_d_state.d_angular_velocity + + 2.0 * k3.dynamics_d_state.d_angular_velocity + k4.dynamics_d_state.d_angular_velocity) / + 6.0; + + // update steering dynamics/controller internal state + auto dynamics_state_new = dynamics_state; + dynamics_state_new.angular_position = std::clamp( + dynamics_state.angular_position + d_angular_position * dt, -params_.angle_limit, + params_.angle_limit); + dynamics_state_new.angular_velocity = std::clamp( + dynamics_state.angular_velocity + d_angular_velocity * dt, -params_.rate_limit, + params_.rate_limit); + pid_.update_state(k1.pid_error, k2.pid_error, k3.pid_error, k4.pid_error, dt); + if ( + k1.delay_buffer.empty() || k2.delay_buffer.empty() || k3.delay_buffer.empty() || + k4.delay_buffer.empty()) { + // This condition is assumed to never be met because it is always pushed by + // the delay() function. + return dynamics_state.angular_position; + } + const double delayed_signal = + (k1.delay_buffer.back().first + 2.0 * k2.delay_buffer.back().first + + 2.0 * k3.delay_buffer.back().first + k4.delay_buffer.back().first) / + 6.0; + const double elapsed_time = delay_buffer_.empty() ? dt : delay_buffer_.back().second + dt; + delay_buffer_ = + delay(delayed_signal, params_.torque_delay_time, delay_buffer_, elapsed_time).second; + dynamics_state_new.is_in_dead_zone = + steering_dynamics_.is_in_dead_zone(dynamics_state_new, delayed_signal); + steering_dynamics_.set_state(dynamics_state_new); + + return dynamics_state_new.angular_position; +} + +StepResult MechanicalController::run_one_step( + const double input_angle, const double speed, const double prev_input_angle, const double dt, + const DelayBuffer & delay_buffer, const PIDController & pid, + const SteeringDynamics & dynamics) const +{ + const auto dynamics_state = dynamics.get_state(); + const auto pid_state = pid.get_state(); + + const double limited_input_angle = + apply_limits(input_angle, prev_input_angle, params_.angle_limit, params_.rate_limit, dt); + + const double ff_torque = feedforward(limited_input_angle, params_.ff_gain); + + const double pid_error = limited_input_angle - dynamics_state.angular_position; + + const double pid_torque = + pid.compute(pid_error, pid_state.integral + pid_error * dt, pid_state.error, dt); + + const double total_torque = ff_torque + pid_torque; + + // NOTE: do not distinguish between forward and backward driving + const double steering_torque = std::clamp( + polynomial_transform( + total_torque, std::abs(speed), params_.poly_a, params_.poly_b, params_.poly_c, params_.poly_d, + params_.poly_e, params_.poly_f, params_.poly_g, params_.poly_h), + -params_.steering_torque_limit, params_.steering_torque_limit); + + const double elapsed_time = delay_buffer.empty() ? dt : delay_buffer.back().second + dt; + const auto [delayed_torque_opt, delay_buffer_new] = + delay(steering_torque, params_.torque_delay_time, delay_buffer, elapsed_time); + + if (!delayed_torque_opt.has_value()) { + return {delay_buffer_new, pid_error, {0.0, 0.0}, dynamics_state.is_in_dead_zone}; + } + + const bool is_in_dead_zone = dynamics.is_in_dead_zone(dynamics_state, steering_torque); + if (is_in_dead_zone) { + return {delay_buffer_new, pid_error, {0.0, 0.0}, true}; + } + + const auto d_state = dynamics.calc_model(dynamics.get_state(), steering_torque); + + return {delay_buffer_new, pid_error, d_state, false}; +} + +} // namespace autoware::simple_planning_simulator::utils::mechanical_controller diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp index 74ad765687a2e..469c30dc4f0cf 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp @@ -108,43 +108,13 @@ double BrakeMap::getBrake(const double acc, double vel) const return autoware::interpolation::lerp(interpolated_acc_vec, brake_indices, acc); } -// steer map sim model +// convert only longitudinal actuation command SimModelActuationCmd::SimModelActuationCmd( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double accel_delay, double accel_time_constant, double brake_delay, double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, - bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, - std::string accel_map_path, std::string brake_map_path, std::string steer_map_path) -: SimModelInterface(6 /* dim x */, 5 /* dim u */), - MIN_TIME_CONSTANT(0.03), - vx_lim_(vx_lim), - vx_rate_lim_(vx_rate_lim), - steer_lim_(steer_lim), - steer_rate_lim_(steer_rate_lim), - wheelbase_(wheelbase), - accel_delay_(accel_delay), - accel_time_constant_(std::max(accel_time_constant, MIN_TIME_CONSTANT)), - brake_delay_(brake_delay), - brake_time_constant_(std::max(brake_time_constant, MIN_TIME_CONSTANT)), - steer_delay_(steer_delay), - steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), - steer_bias_(steer_bias) -{ - initializeInputQueue(dt); - convert_accel_cmd_ = convert_accel_cmd && accel_map_.readActuationMapFromCSV(accel_map_path); - convert_brake_cmd_ = convert_brake_cmd && brake_map_.readActuationMapFromCSV(brake_map_path); - convert_steer_cmd_ = convert_steer_cmd && steer_map_.readActuationMapFromCSV(steer_map_path); - actuation_sim_type_ = ActuationSimType::STEER_MAP; -} - -// VGR sim model -SimModelActuationCmd::SimModelActuationCmd( - double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, - double dt, double accel_delay, double accel_time_constant, double brake_delay, - double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, - bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, - std::string accel_map_path, std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, - double vgr_coef_c) + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path) : SimModelInterface(6 /* dim x */, 5 /* dim u */), MIN_TIME_CONSTANT(0.03), vx_lim_(vx_lim), @@ -159,15 +129,12 @@ SimModelActuationCmd::SimModelActuationCmd( steer_delay_(steer_delay), steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), steer_bias_(steer_bias), - convert_steer_cmd_(convert_steer_cmd), - vgr_coef_a_(vgr_coef_a), - vgr_coef_b_(vgr_coef_b), - vgr_coef_c_(vgr_coef_c) + convert_accel_cmd_(convert_accel_cmd), + convert_brake_cmd_(convert_brake_cmd) { initializeInputQueue(dt); convert_accel_cmd_ = convert_accel_cmd && accel_map_.readActuationMapFromCSV(accel_map_path); convert_brake_cmd_ = convert_brake_cmd && brake_map_.readActuationMapFromCSV(brake_map_path); - actuation_sim_type_ = ActuationSimType::VGR; } double SimModelActuationCmd::getX() @@ -222,6 +189,7 @@ void SimModelActuationCmd::update(const double & dt) delayed_input(IDX_U::SLOPE_ACCX) = input_(IDX_U::SLOPE_ACCX); const auto prev_state = state_; + updateRungeKutta(dt, delayed_input); // take velocity/steer limit explicitly @@ -248,36 +216,32 @@ void SimModelActuationCmd::initializeInputQueue(const double & dt) std::fill(steer_input_queue_.begin(), steer_input_queue_.end(), 0.0); } -Eigen::VectorXd SimModelActuationCmd::calcModel( +Eigen::VectorXd SimModelActuationCmd::calcLongitudinalModel( const Eigen::VectorXd & state, const Eigen::VectorXd & input) { using autoware_vehicle_msgs::msg::GearCommand; const double vel = std::clamp(state(IDX::VX), -vx_lim_, vx_lim_); const double acc = std::clamp(state(IDX::ACCX), -vx_rate_lim_, vx_rate_lim_); - const double yaw = state(IDX::YAW); const double steer = state(IDX::STEER); - + const double yaw = state(IDX::YAW); const double accel = input(IDX_U::ACCEL_DES); const double brake = input(IDX_U::BRAKE_DES); const auto gear = input(IDX_U::GEAR); - // 1) calculate acceleration by accel and brake command + // calculate acceleration by accel and brake command const double acc_des_wo_slope = std::clamp( std::invoke([&]() -> double { - // Select the non-zero value between accel and brake and calculate the acceleration if (convert_accel_cmd_ && accel > 0.0) { - // convert accel command to acceleration return accel_map_.getControlCommand(accel, vel); } else if (convert_brake_cmd_ && brake > 0.0) { - // convert brake command to acceleration return brake_map_.getControlCommand(brake, vel); } else { - // if conversion is disabled, accel command is directly used as acceleration return accel; } }), -vx_rate_lim_, vx_rate_lim_); + // add slope acceleration considering the gear state const double acc_by_slope = input(IDX_U::SLOPE_ACCX); const double acc_des = std::invoke([&]() -> double { @@ -290,36 +254,31 @@ Eigen::VectorXd SimModelActuationCmd::calcModel( }); const double acc_time_constant = accel > 0.0 ? accel_time_constant_ : brake_time_constant_; - // 2) calculate steering rate by steer command - const double steer_rate = std::clamp( - std::invoke([&]() -> double { - // if conversion is enabled, calculate steering rate from steer command - if (convert_steer_cmd_) { - if (actuation_sim_type_ == ActuationSimType::VGR) { - // convert steer wheel command to steer rate - const double steer_des = - calculateSteeringTireCommand(vel, steer, input(IDX_U::STEER_DES)); - return -(getSteer() - steer_des) / steer_time_constant_; - } else if (actuation_sim_type_ == ActuationSimType::STEER_MAP) { - // convert steer command to steer rate - return steer_map_.getControlCommand(input(IDX_U::STEER_DES), vel) / steer_time_constant_; - } - } - // otherwise, steer command is desired steering angle, so calculate steering rate from the - // difference between the desired steering angle and the current steering angle. - const double steer_des = std::clamp(input(IDX_U::STEER_DES), -steer_lim_, steer_lim_); - return -(getSteer() - steer_des) / steer_time_constant_; - }), - -steer_rate_lim_, steer_rate_lim_); + // calculate derivative of longitudinal states except steering + Eigen::VectorXd d_longitudinal_state = Eigen::VectorXd::Zero(dim_x_); + d_longitudinal_state(IDX::X) = vel * cos(yaw); + d_longitudinal_state(IDX::Y) = vel * sin(yaw); + d_longitudinal_state(IDX::YAW) = vel * std::tan(steer) / wheelbase_; + d_longitudinal_state(IDX::VX) = acc; + d_longitudinal_state(IDX::ACCX) = -(acc - acc_des) / acc_time_constant; - Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); - d_state(IDX::X) = vel * cos(yaw); - d_state(IDX::Y) = vel * sin(yaw); - d_state(IDX::YAW) = vel * std::tan(steer) / wheelbase_; - d_state(IDX::VX) = acc; - d_state(IDX::STEER) = steer_rate; - d_state(IDX::ACCX) = -(acc - acc_des) / acc_time_constant; + return d_longitudinal_state; +} +double SimModelActuationCmd::calcLateralModel( + [[maybe_unused]] const double steer, const double steer_input, [[maybe_unused]] const double vel) +{ + const double steer_rate = std::clamp( + -(getSteer() - steer_input) / steer_time_constant_, -steer_rate_lim_, steer_rate_lim_); + return steer_rate; +} + +Eigen::VectorXd SimModelActuationCmd::calcModel( + const Eigen::VectorXd & state, const Eigen::VectorXd & input) +{ + Eigen::VectorXd d_state = calcLongitudinalModel(state, input); + d_state(IDX::STEER) = + calcLateralModel(state(IDX::STEER), input(IDX_U::STEER_DES), state(IDX::VX)); return d_state; } @@ -383,20 +342,57 @@ SimModelActuationCmd::getActuationStatus() const actuation_status.status.brake_status = brake_map_.getBrake(acc_state, vel_state); } - if (convert_steer_cmd_) { - if (actuation_sim_type_ == ActuationSimType::VGR) { - actuation_status.status.steer_status = - calculateSteeringWheelState(vel_state, state_(IDX::STEER)); - } - // NOTE: Conversion by steer map is not supported - // else if (actuation_sim_type_ == ActuationSimType::STEER_MAP) {} + return actuation_status; +} + +/* ------ SteerMap model ----- */ +SimModelActuationCmdSteerMap::SimModelActuationCmdSteerMap( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, std::string steer_map_path) +: SimModelActuationCmd( + vx_lim, steer_lim, vx_rate_lim, steer_rate_lim, wheelbase, dt, accel_delay, accel_time_constant, + brake_delay, brake_time_constant, steer_delay, steer_time_constant, steer_bias, + convert_accel_cmd, convert_brake_cmd, accel_map_path, brake_map_path) +{ + initializeInputQueue(dt); + if (!steer_map_.readActuationMapFromCSV(steer_map_path)) { + throw std::runtime_error("Failed to read steer map from " + steer_map_path); } +} - return actuation_status; +double SimModelActuationCmdSteerMap::calcLateralModel( + [[maybe_unused]] const double steer, const double steer_input, const double vel) +{ + const double steer_rate = std::clamp( + steer_map_.getControlCommand(steer_input, vel) / steer_time_constant_, -steer_rate_lim_, + steer_rate_lim_); + + return steer_rate; } +/* ---------------------------------------- */ -/* ------ Functions for VGR sim model ----- */ -double SimModelActuationCmd::calculateSteeringTireCommand( +/* ------ VGR model ----- */ +SimModelActuationCmdVGR::SimModelActuationCmdVGR( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, double vgr_coef_c) +: SimModelActuationCmd( + vx_lim, steer_lim, vx_rate_lim, steer_rate_lim, wheelbase, dt, accel_delay, accel_time_constant, + brake_delay, brake_time_constant, steer_delay, steer_time_constant, steer_bias, + convert_accel_cmd, convert_brake_cmd, accel_map_path, brake_map_path), + vgr_coef_a_(vgr_coef_a), + vgr_coef_b_(vgr_coef_b), + vgr_coef_c_(vgr_coef_c) +{ + initializeInputQueue(dt); +} + +double SimModelActuationCmdVGR::calculateSteeringTireCommand( const double vel, const double steer, const double steer_wheel_des) const { // steer_tire_state -> steer_wheel_state @@ -408,17 +404,114 @@ double SimModelActuationCmd::calculateSteeringTireCommand( return steer_wheel_des / adaptive_gear_ratio; } -double SimModelActuationCmd::calculateSteeringWheelState( +double SimModelActuationCmdVGR::calculateSteeringWheelState( const double vel, const double steer_state) const { return (vgr_coef_a_ + vgr_coef_b_ * vel * vel) * steer_state / (1.0 + vgr_coef_c_ * std::abs(steer_state)); } -double SimModelActuationCmd::calculateVariableGearRatio( +double SimModelActuationCmdVGR::calculateVariableGearRatio( const double vel, const double steer_wheel) const { return std::max( 1e-5, vgr_coef_a_ + vgr_coef_b_ * vel * vel - vgr_coef_c_ * std::fabs(steer_wheel)); } + +double SimModelActuationCmdVGR::calcLateralModel( + const double steer, const double steer_input, const double vel) +{ + const double steer_des = calculateSteeringTireCommand(vel, steer, steer_input); + const double steer_rate = + std::clamp(-(getSteer() - steer_des) / steer_time_constant_, -steer_rate_lim_, steer_rate_lim_); + return steer_rate; +} +/* ---------------------------------------- */ + +/* ------ MECHANICAL model ----- */ +SimModelActuationCmdMechanical::SimModelActuationCmdMechanical( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, double vgr_coef_c, + MechanicalParams mechanical_params) +: SimModelActuationCmdVGR( + vx_lim, steer_lim, vx_rate_lim, steer_rate_lim, wheelbase, dt, accel_delay, accel_time_constant, + brake_delay, brake_time_constant, steer_delay, steer_time_constant, steer_bias, + convert_accel_cmd, convert_brake_cmd, accel_map_path, brake_map_path, vgr_coef_a, vgr_coef_b, + vgr_coef_c), + mechanical_controller_(std::make_unique(mechanical_params)) +{ +} + +void SimModelActuationCmdMechanical::update(const double & dt) +{ + Eigen::VectorXd delayed_input = Eigen::VectorXd::Zero(dim_u_); + + accel_input_queue_.push_back(input_(IDX_U::ACCEL_DES)); + delayed_input(IDX_U::ACCEL_DES) = accel_input_queue_.front(); + accel_input_queue_.pop_front(); + + brake_input_queue_.push_back(input_(IDX_U::BRAKE_DES)); + delayed_input(IDX_U::BRAKE_DES) = brake_input_queue_.front(); + brake_input_queue_.pop_front(); + + steer_input_queue_.push_back(input_(IDX_U::STEER_DES)); + delayed_input(IDX_U::STEER_DES) = steer_input_queue_.front(); + steer_input_queue_.pop_front(); + + delayed_input(IDX_U::GEAR) = input_(IDX_U::GEAR); + delayed_input(IDX_U::SLOPE_ACCX) = input_(IDX_U::SLOPE_ACCX); + + const auto prev_state = state_; + + updateRungeKuttaWithController(dt, delayed_input); + + // take velocity/steer limit explicitly + state_(IDX::VX) = std::clamp(state_(IDX::VX), -vx_lim_, vx_lim_); + state_(IDX::STEER) = std::clamp(state_(IDX::STEER), -steer_lim_, steer_lim_); + + // consider gear + // update position and velocity first, and then acceleration is calculated naturally + updateStateWithGear(state_, prev_state, gear_, dt); +} + +void SimModelActuationCmdMechanical::updateRungeKuttaWithController( + const double dt, const Eigen::VectorXd & input) +{ + // 1) update longitudinal states + const Eigen::VectorXd k1_longitudinal = calcLongitudinalModel(state_, input); + const Eigen::VectorXd k2_longitudinal = + calcLongitudinalModel(state_ + k1_longitudinal * 0.5 * dt, input); + const Eigen::VectorXd k3_longitudinal = + calcLongitudinalModel(state_ + k2_longitudinal * 0.5 * dt, input); + const Eigen::VectorXd k4_longitudinal = + calcLongitudinalModel(state_ + k3_longitudinal * dt, input); + state_ += + dt / 6.0 * (k1_longitudinal + 2.0 * k2_longitudinal + 2.0 * k3_longitudinal + k4_longitudinal); + + // 2) update lateral states + const double steer = state_(IDX::STEER); + const double steer_des = input(IDX_U::STEER_DES); + const double vel = state_(IDX::VX); + + const double steer_tire_des = calculateSteeringTireCommand(vel, steer, steer_des); + + mechanical_controller_->set_steer(state_(IDX::STEER)); + const double new_steer = + mechanical_controller_->update_runge_kutta(steer_tire_des, vel, prev_steer_tire_des_, dt); + state_(IDX::STEER) = new_steer; + prev_steer_tire_des_ = steer_tire_des; +} + +void SimModelActuationCmdMechanical::setState(const Eigen::VectorXd & state) +{ + // NOTE: This function is intended to overwrite the state by setting the initial pose, etc. In + // that case, it is necessary to reset the pid and steering dynamics states of the mechanical + // controller. + mechanical_controller_->clear_state(); + mechanical_controller_->set_steer(state(IDX::STEER)); + state_ = state; +} /* ---------------------------------------- */ diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index d774617dc77f1..6f2590417e574 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -271,19 +271,11 @@ void declareVehicleInfoParams(rclcpp::NodeOptions & node_options) node_options.append_parameter_override("max_steer_angle", 0.7); } +// NOTE: +// command type and vehicle model type area common params to all vehicle models. +// currently, no vehicle model requires additional parameters. using DefaultParamType = std::tuple; -using ActuationCmdParamType = std::tuple; -using ParamType = std::variant; -std::unordered_map vehicle_model_type_map = { - {"IDEAL_STEER_VEL", typeid(DefaultParamType)}, - {"IDEAL_STEER_ACC", typeid(DefaultParamType)}, - {"IDEAL_STEER_ACC_GEARED", typeid(DefaultParamType)}, - {"DELAY_STEER_VEL", typeid(DefaultParamType)}, - {"DELAY_STEER_ACC", typeid(DefaultParamType)}, - {"DELAY_STEER_ACC_GEARED", typeid(DefaultParamType)}, - {"DELAY_STEER_ACC_GEARED_WO_FALL_GUARD", typeid(DefaultParamType)}, - {"ACTUATION_CMD", typeid(ActuationCmdParamType)}}; - +using ParamType = std::variant; std::pair get_common_params(const ParamType & params) { return std::visit( @@ -304,21 +296,10 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) rclcpp::init(0, nullptr); const auto params = GetParam(); - // common parameters const auto common_params = get_common_params(params); const auto command_type = common_params.first; const auto vehicle_model_type = common_params.second; - // optional parameters - std::optional conversion_type{}; // for ActuationCmdParamType - - // Determine the ParamType corresponding to vehicle_model_type and get the specific parameters. - const auto iter = vehicle_model_type_map.find(vehicle_model_type); - if (iter == vehicle_model_type_map.end()) { - throw std::invalid_argument("Unexpected vehicle_model_type."); - } - if (iter->second == typeid(ActuationCmdParamType)) { - conversion_type = std::get<2>(std::get(params)); - } + std::cout << "\n\n vehicle model = " << vehicle_model_type << std::endl << std::endl; rclcpp::NodeOptions node_options; node_options.append_parameter_override("initialize_source", "INITIAL_POSE_TOPIC"); @@ -331,7 +312,6 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) node_options.append_parameter_override("brake_time_constant", 0.2); node_options.append_parameter_override("convert_accel_cmd", true); node_options.append_parameter_override("convert_brake_cmd", true); - node_options.append_parameter_override("convert_steer_cmd", true); const auto share_dir = ament_index_cpp::get_package_share_directory("simple_planning_simulator"); const auto accel_map_path = share_dir + "/test/actuation_cmd_map/accel_map.csv"; const auto brake_map_path = share_dir + "/test/actuation_cmd_map/brake_map.csv"; @@ -342,17 +322,31 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) node_options.append_parameter_override("vgr_coef_a", 15.713); node_options.append_parameter_override("vgr_coef_b", 0.053); node_options.append_parameter_override("vgr_coef_c", 0.042); - if (conversion_type.has_value()) { - std::cout << "\n\n vehicle model = " << vehicle_model_type - << ", conversion_type = " << conversion_type.value() << std::endl - << std::endl; - node_options.append_parameter_override("convert_steer_cmd_method", conversion_type.value()); - } else { - std::cout << "\n\n vehicle model = " << vehicle_model_type << std::endl << std::endl; - } + // mechanical parameters + node_options.append_parameter_override("mechanical_params.kp", 386.915); + node_options.append_parameter_override("mechanical_params.ki", 5.461); + node_options.append_parameter_override("mechanical_params.kd", 0.036); + node_options.append_parameter_override("mechanical_params.ff_gain", 0.031); + node_options.append_parameter_override("mechanical_params.angle_limit", 10.0); + node_options.append_parameter_override("mechanical_params.rate_limit", 3.0); + node_options.append_parameter_override("mechanical_params.dead_zone_threshold", 0.007); + node_options.append_parameter_override("mechanical_params.poly_a", 0.153); + node_options.append_parameter_override("mechanical_params.poly_b", -0.173); + node_options.append_parameter_override("mechanical_params.poly_c", 1.590); + node_options.append_parameter_override("mechanical_params.poly_d", 0.002); + node_options.append_parameter_override("mechanical_params.poly_e", -0.042); + node_options.append_parameter_override("mechanical_params.poly_f", 0.184); + node_options.append_parameter_override("mechanical_params.poly_g", -0.063); + node_options.append_parameter_override("mechanical_params.poly_h", 0.187); + node_options.append_parameter_override("mechanical_params.inertia", 25.178); + node_options.append_parameter_override("mechanical_params.damping", 117.007); + node_options.append_parameter_override("mechanical_params.stiffness", 0.175); + node_options.append_parameter_override("mechanical_params.friction", 0.660); + node_options.append_parameter_override("mechanical_params.steering_torque_limit", 30.0); + node_options.append_parameter_override("mechanical_params.torque_delay_time", 0.001); declareVehicleInfoParams(node_options); - const auto sim_node = std::make_shared(node_options); + auto sim_node = std::make_shared(node_options); const auto pub_sub_node = std::make_shared(); @@ -364,7 +358,7 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) // acceleration or braking, and whether it turns left or right, and generate an actuation // command. So do not change the map. If it is necessary, you need to change this parameters as // well. - const double target_steer_actuation = 10.0f; + const double target_steer_actuation = 20.0f; const double target_accel_actuation = 0.5f; // const double target_brake_actuation = 0.5f; // unused for now. @@ -375,10 +369,15 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) const auto t = sim_node->now(); sendCommand(command_type, sim_node, pub_sub_node, t, ackermann_cmd, actuation_cmd); }; + // NOTE: Since the node has a queue, the node needs to be re-created. + auto _restartNode = [&]() { + sim_node.reset(); + sim_node = std::make_shared(node_options); + }; // check pub-sub connections { - size_t expected = 1; + constexpr size_t expected = 1; // actuation or ackermann must be subscribed const auto sub_command_count = (command_type == CommandType::Actuation) @@ -404,6 +403,7 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) // go backward // NOTE: positive acceleration with reverse gear drives the vehicle backward. + _restartNode(); _resetInitialpose(); _sendBwdGear(); _sendCommand( @@ -412,6 +412,7 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) isOnBackward(*(pub_sub_node->current_odom_), init_state); // go forward left + _restartNode(); _resetInitialpose(); _sendFwdGear(); _sendCommand( @@ -421,6 +422,7 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) // go backward right // NOTE: positive acceleration with reverse gear drives the vehicle backward. + _restartNode(); _resetInitialpose(); _sendBwdGear(); _sendCommand( @@ -443,5 +445,9 @@ INSTANTIATE_TEST_SUITE_P( std::make_tuple(CommandType::Ackermann, "DELAY_STEER_ACC_GEARED"), std::make_tuple(CommandType::Ackermann, "DELAY_STEER_ACC_GEARED_WO_FALL_GUARD"), /* Actuation type */ - std::make_tuple(CommandType::Actuation, "ACTUATION_CMD", "steer_map"), - std::make_tuple(CommandType::Actuation, "ACTUATION_CMD", "vgr"))); + // NOTE: Just "ACTUATION_CMD" sim model converts only accel/brake actuation commands. The test + // is performed for models that convert all accel/brake/steer commands, so the test for + // accel/brake alone is skipped. + std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_STEER_MAP"), + std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_VGR"), + std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_MECHANICAL"))); diff --git a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst index 1a8c55e318454..df41afe78a70f 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst +++ b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package tier4_dummy_object_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) * fix: dummy object rviz plugin dependency * fix: remove message from dummy perception publisher * fix: node name --------- -* fix(tier4_dummy_object_rviz_plugin): fix unusedFunction (`#8844 `_) +* fix(tier4_dummy_object_rviz_plugin): fix unusedFunction (`#8844 `_) fix:unusedFunction -* fix(tier4_dummy_object_rviz_plugin): fix functionConst (`#8830 `_) +* fix(tier4_dummy_object_rviz_plugin): fix functionConst (`#8830 `_) fix:functionConst -* fix(tier4_perception_rviz_plugin): relocate tier4_perception_rviz_plugin and rename it to tier4_dummy_object_rviz_plugin (`#8818 `_) +* fix(tier4_perception_rviz_plugin): relocate tier4_perception_rviz_plugin and rename it to tier4_dummy_object_rviz_plugin (`#8818 `_) * chore: move tier4_perception_rviz_plugin package to simulation folder * chore: reorder codeowners * rename package to tier4_dummy_perception_rviz_plugin diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml index 688f72026804e..c3d8f78670502 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/package.xml +++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml @@ -10,6 +10,7 @@ ament_cmake autoware_cmake + libboost-dev libqt5-core libqt5-gui libqt5-widgets diff --git a/simulator/vehicle_door_simulator/CHANGELOG.rst b/simulator/vehicle_door_simulator/CHANGELOG.rst index 7b17ff1b51fc1..d825a300763f4 100644 --- a/simulator/vehicle_door_simulator/CHANGELOG.rst +++ b/simulator/vehicle_door_simulator/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package vehicle_door_simulator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: fix internal door interface qos (`#9144 `_) +* fix: fix internal door interface qos (`#9144 `_) * Contributors: Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* feat(default_ad_api): add door api (`#5737 `_) +* feat(default_ad_api): add door api (`#5737 `_) * Contributors: Takagi, Isamu diff --git a/system/autoware_component_monitor/CHANGELOG.rst b/system/autoware_component_monitor/CHANGELOG.rst index f950048d41550..30c97e6f41adc 100644 --- a/system/autoware_component_monitor/CHANGELOG.rst +++ b/system/autoware_component_monitor/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_component_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(autoware_component_monitor): add maintainers (`#8867 `_) -* fix(autoware_component_monitor): fix unusedFunction (`#8582 `_) -* feat(system): create a package to monitor component containers (`#7094 `_) +* chore(autoware_component_monitor): add maintainers (`#8867 `_) +* fix(autoware_component_monitor): fix unusedFunction (`#8582 `_) +* feat(system): create a package to monitor component containers (`#7094 `_) * Contributors: Hayate TOBA, Mehmet Emin BAŞOĞLU, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/system/autoware_default_adapi/CHANGELOG.rst b/system/autoware_default_adapi/CHANGELOG.rst index 4f463ff2ecea3..295b95531177f 100644 --- a/system/autoware_default_adapi/CHANGELOG.rst +++ b/system/autoware_default_adapi/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_default_adapi 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* fix(default_ad_api): fix unusedFunction (`#8581 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix(default_ad_api): fix unusedFunction (`#8581 `_) * fix: unusedFunction * Revert "fix: unusedFunction" This reverts commit c70a36d4d29668f02dae9416f202ccd05abee552. * fix: unusedFunction --------- Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) * Contributors: Esteve Fernandez, Hayate TOBA, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index b4324ce05c511..f664f72234f9f 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_component_interface_specs diff --git a/system/autoware_default_adapi/src/compatibility/autoware_state.hpp b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp index d4707ea55fd87..c292f2f62364c 100644 --- a/system/autoware_default_adapi/src/compatibility/autoware_state.hpp +++ b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp @@ -15,9 +15,9 @@ #ifndef COMPATIBILITY__AUTOWARE_STATE_HPP_ #define COMPATIBILITY__AUTOWARE_STATE_HPP_ -#include -#include -#include +#include +#include +#include #include #include @@ -40,14 +40,14 @@ class AutowareStateNode : public rclcpp::Node using ModeChangeAvailable = tier4_system_msgs::msg::ModeChangeAvailable; rclcpp::TimerBase::SharedPtr timer_; // emergency - Sub sub_localization_; - Sub sub_routing_; - Sub sub_operation_mode_; + Sub sub_localization_; + Sub sub_routing_; + Sub sub_operation_mode_; using AutowareState = autoware_system_msgs::msg::AutowareState; - using LocalizationState = autoware_ad_api::localization::InitializationState::Message; - using RoutingState = autoware_ad_api::routing::RouteState::Message; - using OperationModeState = autoware_ad_api::operation_mode::OperationModeState::Message; + using LocalizationState = autoware::adapi_specs::localization::InitializationState::Message; + using RoutingState = autoware::adapi_specs::routing::RouteState::Message; + using OperationModeState = autoware::adapi_specs::operation_mode::OperationModeState::Message; using Trigger = std_srvs::srv::Trigger; std::vector component_states_; std::vector::SharedPtr> sub_component_states_; diff --git a/system/autoware_default_adapi/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp index 16cf340ec7a20..c5ee08643e802 100644 --- a/system/autoware_default_adapi/src/fail_safe.hpp +++ b/system/autoware_default_adapi/src/fail_safe.hpp @@ -15,9 +15,9 @@ #ifndef FAIL_SAFE_HPP_ #define FAIL_SAFE_HPP_ +#include #include #include -#include #include // This file should be included after messages. @@ -32,8 +32,8 @@ class FailSafeNode : public rclcpp::Node explicit FailSafeNode(const rclcpp::NodeOptions & options); private: - using MrmState = autoware_ad_api::fail_safe::MrmState::Message; - Pub pub_mrm_state_; + using MrmState = autoware::adapi_specs::fail_safe::MrmState::Message; + Pub pub_mrm_state_; Sub sub_mrm_state_; MrmState prev_state_; void on_state(const MrmState::ConstSharedPtr msg); diff --git a/system/autoware_default_adapi/src/heartbeat.cpp b/system/autoware_default_adapi/src/heartbeat.cpp index 2d6171b88151d..ab3df84904f28 100644 --- a/system/autoware_default_adapi/src/heartbeat.cpp +++ b/system/autoware_default_adapi/src/heartbeat.cpp @@ -23,7 +23,7 @@ HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartb { // Move this function so that the timer no longer holds it as a reference. const auto on_timer = [this]() { - autoware_ad_api::system::Heartbeat::Message heartbeat; + autoware::adapi_specs::system::Heartbeat::Message heartbeat; heartbeat.stamp = now(); heartbeat.seq = ++sequence_; // Wraps at 65535. pub_->publish(heartbeat); diff --git a/system/autoware_default_adapi/src/heartbeat.hpp b/system/autoware_default_adapi/src/heartbeat.hpp index 8b1108d7b1bd3..4647686fe13d5 100644 --- a/system/autoware_default_adapi/src/heartbeat.hpp +++ b/system/autoware_default_adapi/src/heartbeat.hpp @@ -15,7 +15,7 @@ #ifndef HEARTBEAT_HPP_ #define HEARTBEAT_HPP_ -#include +#include #include // This file should be included after messages. @@ -31,7 +31,7 @@ class HeartbeatNode : public rclcpp::Node private: rclcpp::TimerBase::SharedPtr timer_; - Pub pub_; + Pub pub_; uint16_t sequence_ = 0; }; diff --git a/system/autoware_default_adapi/src/interface.hpp b/system/autoware_default_adapi/src/interface.hpp index ce0bdb04e2d2e..81ae7aaefc25d 100644 --- a/system/autoware_default_adapi/src/interface.hpp +++ b/system/autoware_default_adapi/src/interface.hpp @@ -15,7 +15,7 @@ #ifndef INTERFACE_HPP_ #define INTERFACE_HPP_ -#include +#include #include // This file should be included after messages. @@ -30,7 +30,7 @@ class InterfaceNode : public rclcpp::Node explicit InterfaceNode(const rclcpp::NodeOptions & options); private: - Srv srv_; + Srv srv_; }; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/localization.cpp b/system/autoware_default_adapi/src/localization.cpp index 93977b36cd0a1..779c63224744d 100644 --- a/system/autoware_default_adapi/src/localization.cpp +++ b/system/autoware_default_adapi/src/localization.cpp @@ -30,8 +30,8 @@ LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options) } void LocalizationNode::on_initialize( - const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req, - const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res) + const autoware::adapi_specs::localization::Initialize::Service::Request::SharedPtr req, + const autoware::adapi_specs::localization::Initialize::Service::Response::SharedPtr res) { res->status = localization_conversion::convert_call(cli_initialize_, req); } diff --git a/system/autoware_default_adapi/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp index dbbc106621156..ef4ffd52a6718 100644 --- a/system/autoware_default_adapi/src/localization.hpp +++ b/system/autoware_default_adapi/src/localization.hpp @@ -15,8 +15,8 @@ #ifndef LOCALIZATION_HPP_ #define LOCALIZATION_HPP_ +#include #include -#include #include // This file should be included after messages. @@ -32,14 +32,14 @@ class LocalizationNode : public rclcpp::Node private: rclcpp::CallbackGroup::SharedPtr group_cli_; - Srv srv_initialize_; - Pub pub_state_; + Srv srv_initialize_; + Pub pub_state_; Cli cli_initialize_; Sub sub_state_; void on_initialize( - const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req, - const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res); + const autoware::adapi_specs::localization::Initialize::Service::Request::SharedPtr req, + const autoware::adapi_specs::localization::Initialize::Service::Response::SharedPtr res); }; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp index b59ba8e52e403..dd7d842c3f26f 100644 --- a/system/autoware_default_adapi/src/motion.cpp +++ b/system/autoware_default_adapi/src/motion.cpp @@ -88,7 +88,7 @@ void MotionNode::update_state() void MotionNode::change_state(const State state) { - using MotionState = autoware_ad_api::motion::State::Message; + using MotionState = autoware::adapi_specs::motion::State::Message; static const auto mapping = std::unordered_map( {{State::Unknown, MotionState::UNKNOWN}, {State::Pausing, MotionState::STOPPED}, @@ -149,11 +149,11 @@ void MotionNode::on_is_start_requested( } void MotionNode::on_accept( - const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr, - const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res) + const autoware::adapi_specs::motion::AcceptStart::Service::Request::SharedPtr, + const autoware::adapi_specs::motion::AcceptStart::Service::Response::SharedPtr res) { if (state_ != State::Starting) { - using AcceptStartResponse = autoware_ad_api::motion::AcceptStart::Service::Response; + using AcceptStartResponse = autoware::adapi_specs::motion::AcceptStart::Service::Response; throw autoware::component_interface_utils::ServiceException( AcceptStartResponse::ERROR_NOT_STARTING, "The motion state is not starting"); } diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp index cae7b310edc73..ce9cab6eb4bc7 100644 --- a/system/autoware_default_adapi/src/motion.hpp +++ b/system/autoware_default_adapi/src/motion.hpp @@ -15,11 +15,11 @@ #ifndef MOTION_HPP_ #define MOTION_HPP_ +#include #include #include #include #include -#include #include // This file should be included after messages. @@ -37,8 +37,8 @@ class MotionNode : public rclcpp::Node autoware::motion_utils::VehicleStopChecker vehicle_stop_checker_; rclcpp::TimerBase::SharedPtr timer_; rclcpp::CallbackGroup::SharedPtr group_cli_; - Srv srv_accept_; - Pub pub_state_; + Srv srv_accept_; + Pub pub_state_; Cli cli_set_pause_; Sub sub_is_paused_; Sub sub_is_start_requested_; @@ -63,8 +63,8 @@ class MotionNode : public rclcpp::Node const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr msg); void on_accept( - const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req, - const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res); + const autoware::adapi_specs::motion::AcceptStart::Service::Request::SharedPtr req, + const autoware::adapi_specs::motion::AcceptStart::Service::Response::SharedPtr res); }; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp index ca5bb2ba72592..fdfe9ce237626 100644 --- a/system/autoware_default_adapi/src/operation_mode.hpp +++ b/system/autoware_default_adapi/src/operation_mode.hpp @@ -15,9 +15,9 @@ #ifndef OPERATION_MODE_HPP_ #define OPERATION_MODE_HPP_ +#include #include #include -#include #include #include @@ -38,13 +38,13 @@ class OperationModeNode : public rclcpp::Node explicit OperationModeNode(const rclcpp::NodeOptions & options); private: - using OperationModeState = autoware_ad_api::operation_mode::OperationModeState; - using EnableAutowareControl = autoware_ad_api::operation_mode::EnableAutowareControl; - using DisableAutowareControl = autoware_ad_api::operation_mode::DisableAutowareControl; - using ChangeToStop = autoware_ad_api::operation_mode::ChangeToStop; - using ChangeToAutonomous = autoware_ad_api::operation_mode::ChangeToAutonomous; - using ChangeToLocal = autoware_ad_api::operation_mode::ChangeToLocal; - using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote; + using OperationModeState = autoware::adapi_specs::operation_mode::OperationModeState; + using EnableAutowareControl = autoware::adapi_specs::operation_mode::EnableAutowareControl; + using DisableAutowareControl = autoware::adapi_specs::operation_mode::DisableAutowareControl; + using ChangeToStop = autoware::adapi_specs::operation_mode::ChangeToStop; + using ChangeToAutonomous = autoware::adapi_specs::operation_mode::ChangeToAutonomous; + using ChangeToLocal = autoware::adapi_specs::operation_mode::ChangeToLocal; + using ChangeToRemote = autoware::adapi_specs::operation_mode::ChangeToRemote; using OperationModeRequest = autoware::component_interface_specs::system::ChangeOperationMode::Service::Request; using AutowareControlRequest = @@ -57,13 +57,13 @@ class OperationModeNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; rclcpp::TimerBase::SharedPtr timer_; - Pub pub_state_; - Srv srv_stop_mode_; - Srv srv_autonomous_mode_; - Srv srv_local_mode_; - Srv srv_remote_mode_; - Srv srv_enable_control_; - Srv srv_disable_control_; + Pub pub_state_; + Srv srv_stop_mode_; + Srv srv_autonomous_mode_; + Srv srv_local_mode_; + Srv srv_remote_mode_; + Srv srv_enable_control_; + Srv srv_disable_control_; Sub sub_state_; Cli cli_mode_; Cli cli_control_; diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp index ba324fd1cb85b..e764af4ca816a 100644 --- a/system/autoware_default_adapi/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -19,7 +19,7 @@ namespace autoware::default_adapi { -using DynamicObjectArray = autoware_ad_api::perception::DynamicObjectArray; +using DynamicObjectArray = autoware::adapi_specs::perception::DynamicObjectArray; using ObjectClassification = autoware_adapi_v1_msgs::msg::ObjectClassification; using DynamicObject = autoware_adapi_v1_msgs::msg::DynamicObject; using DynamicObjectPath = autoware_adapi_v1_msgs::msg::DynamicObjectPath; diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp index af551d874663b..61fb2c4667f1d 100644 --- a/system/autoware_default_adapi/src/perception.hpp +++ b/system/autoware_default_adapi/src/perception.hpp @@ -15,8 +15,8 @@ #ifndef PERCEPTION_HPP_ #define PERCEPTION_HPP_ +#include #include -#include #include #include @@ -40,7 +40,7 @@ class PerceptionNode : public rclcpp::Node explicit PerceptionNode(const rclcpp::NodeOptions & options); private: - Pub pub_object_recognized_; + Pub pub_object_recognized_; Sub sub_object_recognized_; void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition:: Message::ConstSharedPtr msg); diff --git a/system/autoware_default_adapi/src/planning.cpp b/system/autoware_default_adapi/src/planning.cpp index 49c4e8f432de6..d89ef6c221666 100644 --- a/system/autoware_default_adapi/src/planning.cpp +++ b/system/autoware_default_adapi/src/planning.cpp @@ -81,12 +81,20 @@ PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning "/planning/velocity_factors/obstacle_stop", "/planning/velocity_factors/obstacle_cruise", "/planning/velocity_factors/occlusion_spot", + "/planning/velocity_factors/run_out", "/planning/velocity_factors/stop_line", "/planning/velocity_factors/surround_obstacle", "/planning/velocity_factors/traffic_light", "/planning/velocity_factors/virtual_traffic_light", "/planning/velocity_factors/walkway", - "/planning/velocity_factors/motion_velocity_planner"}; + "/planning/velocity_factors/motion_velocity_planner", + "/planning/velocity_factors/static_obstacle_avoidance", + "/planning/velocity_factors/dynamic_obstacle_avoidance", + "/planning/velocity_factors/avoidance_by_lane_change", + "/planning/velocity_factors/lane_change_left", + "/planning/velocity_factors/lane_change_right", + "/planning/velocity_factors/start_planner", + "/planning/velocity_factors/goal_planner"}; std::vector steering_factor_topics = { "/planning/steering_factor/static_obstacle_avoidance", diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp index 50e044bec018c..3a9b99e33a997 100644 --- a/system/autoware_default_adapi/src/planning.hpp +++ b/system/autoware_default_adapi/src/planning.hpp @@ -15,10 +15,10 @@ #ifndef PLANNING_HPP_ #define PLANNING_HPP_ +#include #include #include #include -#include #include #include @@ -38,8 +38,8 @@ class PlanningNode : public rclcpp::Node private: using VelocityFactorArray = autoware_adapi_v1_msgs::msg::VelocityFactorArray; using SteeringFactorArray = autoware_adapi_v1_msgs::msg::SteeringFactorArray; - Pub pub_velocity_factors_; - Pub pub_steering_factors_; + Pub pub_velocity_factors_; + Pub pub_steering_factors_; Sub sub_trajectory_; Sub sub_kinematic_state_; std::vector::SharedPtr> sub_velocity_factors_; diff --git a/system/autoware_default_adapi/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp index a7b8146bdd45e..4eaa98376b147 100644 --- a/system/autoware_default_adapi/src/routing.cpp +++ b/system/autoware_default_adapi/src/routing.cpp @@ -116,52 +116,52 @@ void RoutingNode::on_route(const Route::Message::ConstSharedPtr msg) } void RoutingNode::on_clear_route( - const autoware_ad_api::routing::ClearRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::ClearRoute::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::ClearRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::ClearRoute::Service::Response::SharedPtr res) { change_stop_mode(); res->status = conversion::convert_call(cli_clear_route_, req); } void RoutingNode::on_set_route_points( - const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res) { if (state_.state != State::Message::UNSET) { - res->status = route_already_set(); + res->status = route_already_set(); return; } res->status = conversion::convert_call(cli_set_waypoint_route_, req); } void RoutingNode::on_set_route( - const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res) { if (state_.state != State::Message::UNSET) { - res->status = route_already_set(); + res->status = route_already_set(); return; } res->status = conversion::convert_call(cli_set_lanelet_route_, req); } void RoutingNode::on_change_route_points( - const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res) { if (state_.state != State::Message::SET) { - res->status = route_is_not_set(); + res->status = route_is_not_set(); return; } res->status = conversion::convert_call(cli_set_waypoint_route_, req); } void RoutingNode::on_change_route( - const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res) { if (state_.state != State::Message::SET) { - res->status = route_is_not_set(); + res->status = route_is_not_set(); return; } res->status = conversion::convert_call(cli_set_lanelet_route_, req); diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp index 0f57f0358fc54..10eed606a5f6b 100644 --- a/system/autoware_default_adapi/src/routing.hpp +++ b/system/autoware_default_adapi/src/routing.hpp @@ -15,10 +15,10 @@ #ifndef ROUTING_HPP_ #define ROUTING_HPP_ +#include #include #include #include -#include #include // This file should be included after messages. @@ -38,13 +38,13 @@ class RoutingNode : public rclcpp::Node using Route = autoware::component_interface_specs::planning::LaneletRoute; rclcpp::CallbackGroup::SharedPtr group_cli_; - Pub pub_state_; - Pub pub_route_; - Srv srv_set_route_points_; - Srv srv_set_route_; - Srv srv_change_route_points_; - Srv srv_change_route_; - Srv srv_clear_route_; + Pub pub_state_; + Pub pub_route_; + Srv srv_set_route_points_; + Srv srv_set_route_; + Srv srv_change_route_points_; + Srv srv_change_route_; + Srv srv_clear_route_; Sub sub_state_; Sub sub_route_; Cli cli_set_waypoint_route_; @@ -60,20 +60,20 @@ class RoutingNode : public rclcpp::Node void on_state(const State::Message::ConstSharedPtr msg); void on_route(const Route::Message::ConstSharedPtr msg); void on_clear_route( - const autoware_ad_api::routing::ClearRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::ClearRoute::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::ClearRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::ClearRoute::Service::Response::SharedPtr res); void on_set_route_points( - const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res); void on_set_route( - const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res); void on_change_route_points( - const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res); void on_change_route( - const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res); }; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp index 36789a8417b3f..5620062ede278 100644 --- a/system/autoware_default_adapi/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -140,7 +140,7 @@ void VehicleNode::publish_kinematics() { if (!kinematic_state_msgs_ || !acceleration_msgs_ || !map_projector_info_) return; - autoware_ad_api::vehicle::VehicleKinematics::Message vehicle_kinematics; + autoware::adapi_specs::vehicle::VehicleKinematics::Message vehicle_kinematics; vehicle_kinematics.pose.header = kinematic_state_msgs_->header; vehicle_kinematics.pose.pose = kinematic_state_msgs_->pose; vehicle_kinematics.twist.header = kinematic_state_msgs_->header; @@ -176,7 +176,7 @@ void VehicleNode::publish_status() !hazard_light_status_msgs_) return; - autoware_ad_api::vehicle::VehicleStatus::Message vehicle_status; + autoware::adapi_specs::vehicle::VehicleStatus::Message vehicle_status; vehicle_status.stamp = now(); vehicle_status.steering_tire_angle = steering_status_msgs_->steering_tire_angle; vehicle_status.gear.status = mapping(gear_type_, gear_status_msgs_->report, ApiGear::UNKNOWN); diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp index ad03aac9116ea..9bb83cb1613e9 100644 --- a/system/autoware_default_adapi/src/vehicle.hpp +++ b/system/autoware_default_adapi/src/vehicle.hpp @@ -15,10 +15,10 @@ #ifndef VEHICLE_HPP_ #define VEHICLE_HPP_ +#include #include #include #include -#include #include #include @@ -40,8 +40,8 @@ class VehicleNode : public rclcpp::Node private: rclcpp::CallbackGroup::SharedPtr group_cli_; - Pub pub_kinematics_; - Pub pub_status_; + Pub pub_kinematics_; + Pub pub_status_; Sub sub_kinematic_state_; Sub sub_acceleration_; Sub sub_steering_; diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp index 9b04b08adb438..50312a38a4cb7 100644 --- a/system/autoware_default_adapi/src/vehicle_door.hpp +++ b/system/autoware_default_adapi/src/vehicle_door.hpp @@ -15,8 +15,8 @@ #ifndef VEHICLE_DOOR_HPP_ #define VEHICLE_DOOR_HPP_ +#include #include -#include #include #include @@ -36,9 +36,9 @@ class VehicleDoorNode : public rclcpp::Node void on_status( autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg); rclcpp::CallbackGroup::SharedPtr group_cli_; - Srv srv_command_; - Srv srv_layout_; - Pub pub_status_; + Srv srv_command_; + Srv srv_layout_; + Pub pub_status_; Cli cli_command_; Cli cli_layout_; Sub sub_status_; diff --git a/system/autoware_default_adapi/src/vehicle_info.hpp b/system/autoware_default_adapi/src/vehicle_info.hpp index f13f222fc269e..d7c9ff501eb43 100644 --- a/system/autoware_default_adapi/src/vehicle_info.hpp +++ b/system/autoware_default_adapi/src/vehicle_info.hpp @@ -15,7 +15,7 @@ #ifndef VEHICLE_INFO_HPP_ #define VEHICLE_INFO_HPP_ -#include +#include #include // This file should be included after messages. @@ -30,7 +30,7 @@ class VehicleInfoNode : public rclcpp::Node explicit VehicleInfoNode(const rclcpp::NodeOptions & options); private: - Srv srv_dimensions_; + Srv srv_dimensions_; autoware_adapi_v1_msgs::msg::VehicleDimensions dimensions_; }; diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst index fb41b530fd4ca..672a5db25e31c 100644 --- a/system/autoware_processing_time_checker/CHANGELOG.rst +++ b/system/autoware_processing_time_checker/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_processing_time_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* feat(processing_time_checker): add a new package (`#7957 `_) +* feat(processing_time_checker): add a new package (`#7957 `_) * feat(processing_time_checker): add a new package * fix * fix diff --git a/system/autoware_processing_time_checker/README.md b/system/autoware_processing_time_checker/README.md index db2dd8d041e61..5745ec52086cc 100644 --- a/system/autoware_processing_time_checker/README.md +++ b/system/autoware_processing_time_checker/README.md @@ -23,9 +23,9 @@ ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml ### Output -| Name | Type | Description | -| ----------------------------------------- | --------------------------------- | ---------------------------------- | -| `/system/processing_time_checker/metrics` | `diagnostic_msgs/DiagnosticArray` | processing time of all the modules | +| Name | Type | Description | +| ----------------------------------------- | ------------------------------------- | ---------------------------------- | +| `/system/processing_time_checker/metrics` | `tier4_metric_msgs::msg::MetricArray` | processing time of all the modules | ## Parameters diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 579f7de0bdb4e..73a0b43e44c50 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -12,10 +12,10 @@ ament_cmake autoware_cmake - diagnostic_updater rclcpp rclcpp_components tier4_debug_msgs + tier4_metric_msgs ament_lint_auto ament_lint_common diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.cpp b/system/autoware_processing_time_checker/src/processing_time_checker.cpp index fec7a16134915..3ab96ab0f9711 100644 --- a/system/autoware_processing_time_checker/src/processing_time_checker.cpp +++ b/system/autoware_processing_time_checker/src/processing_time_checker.cpp @@ -16,7 +16,6 @@ #include -#include #include #include @@ -84,7 +83,7 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op // clang-format on } - diag_pub_ = create_publisher("~/metrics", 1); + metrics_pub_ = create_publisher("~/metrics", 1); const auto period_ns = rclcpp::Rate(update_rate).period(); timer_ = rclcpp::create_timer( @@ -93,28 +92,23 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op void ProcessingTimeChecker::on_timer() { - // create diagnostic status - DiagnosticStatus status; - status.level = status.OK; - status.name = "processing_time"; + // create MetricArrayMsg + MetricArrayMsg metrics_msg; for (const auto & processing_time_iterator : processing_time_map_) { const auto processing_time_topic_name = processing_time_iterator.first; const double processing_time = processing_time_iterator.second; - // generate diagnostic status - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = processing_time_topic_name; - key_value.value = std::to_string(processing_time); - status.values.push_back(key_value); + // generate MetricMsg + MetricMsg metric; + metric.name = "processing_time/" + processing_time_topic_name; + metric.value = std::to_string(processing_time); + metric.unit = "millisecond"; + metrics_msg.metric_array.push_back(metric); } - // create diagnostic array - DiagnosticArray diag_msg; - diag_msg.header.stamp = now(); - diag_msg.status.push_back(status); - // publish - diag_pub_->publish(diag_msg); + metrics_msg.stamp = now(); + metrics_pub_->publish(metrics_msg); } } // namespace autoware::processing_time_checker diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.hpp b/system/autoware_processing_time_checker/src/processing_time_checker.hpp index eba6f2c0642e6..199410623f8b1 100644 --- a/system/autoware_processing_time_checker/src/processing_time_checker.hpp +++ b/system/autoware_processing_time_checker/src/processing_time_checker.hpp @@ -17,8 +17,9 @@ #include -#include "diagnostic_msgs/msg/diagnostic_array.hpp" -#include "tier4_debug_msgs/msg/float64_stamped.hpp" +#include +#include +#include #include #include @@ -26,8 +27,8 @@ namespace autoware::processing_time_checker { -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; +using MetricMsg = tier4_metric_msgs::msg::Metric; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using tier4_debug_msgs::msg::Float64Stamped; class ProcessingTimeChecker : public rclcpp::Node @@ -40,7 +41,7 @@ class ProcessingTimeChecker : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr diag_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; std::vector::SharedPtr> processing_time_subscribers_; // topic name - module name diff --git a/system/bluetooth_monitor/CHANGELOG.rst b/system/bluetooth_monitor/CHANGELOG.rst index 7c87ae598d638..ca70113c03740 100644 --- a/system/bluetooth_monitor/CHANGELOG.rst +++ b/system/bluetooth_monitor/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package bluetooth_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fix file name for bluetooth monitor schema (`#8308 `_) +* fix(docs): fix file name for bluetooth monitor schema (`#8308 `_) * fix file name for schema * the variable name should be addresses instead --------- -* fix(bluetooth_monitor): fix unreadVariable (`#8371 `_) +* fix(bluetooth_monitor): fix unreadVariable (`#8371 `_) fix:unreadVariable -* fix(bluetooth_monitor): apply cppcheck-suppress for cstyleCast (`#7869 `_) +* fix(bluetooth_monitor): apply cppcheck-suppress for cstyleCast (`#7869 `_) * Contributors: Koichi98, Yutaka Kondo, Yuxuan Liu, kobayu858 0.26.0 (2024-04-03) ------------------- -* refactor(bluetooth_monitor): rework parameters (`#5239 `_) +* refactor(bluetooth_monitor): rework parameters (`#5239 `_) * refactor(bluetooth_monitor): rework parameters * style(pre-commit): autofix * doc(bluetooth_monitor): fix default for integer parameters @@ -25,7 +25,7 @@ Changelog for package bluetooth_monitor * doc(bluetooth_monitor): fix parameter description --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -33,24 +33,24 @@ Changelog for package bluetooth_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build(bluetooth_monitor): add build dependency (`#2738 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* build(bluetooth_monitor): add build dependency (`#2738 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(bluetooth_monitor): run bluetooth monitor with new parameter (`#1111 `_) +* feat(bluetooth_monitor): run bluetooth monitor with new parameter (`#1111 `_) * feat(bluetooth_monitor): run bluetooth monitor with new parameter * ci(pre-commit): autofix * Fixed a build error in humble Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(bluetooth_monitor): add functionality to monitor Bluetooth connection (`#862 `_) +* feat(bluetooth_monitor): add functionality to monitor Bluetooth connection (`#862 `_) * feat(bluetooth_monitor): add functionality to monitor Bluetooth connection * ci(pre-commit): autofix * Fixed a typo diff --git a/system/component_state_monitor/CHANGELOG.rst b/system/component_state_monitor/CHANGELOG.rst index 5b35d6e4e0ea0..751b67a25a6e4 100644 --- a/system/component_state_monitor/CHANGELOG.rst +++ b/system/component_state_monitor/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package component_state_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(componet_state_monitor): remove ndt node alive monitoring (`#6957 `_) +* fix(componet_state_monitor): remove ndt node alive monitoring (`#6957 `_) remove ndt node alive monitoring -* chore(component_state_monitor): relax pose_estimator_pose timeout (`#6916 `_) +* chore(component_state_monitor): relax pose_estimator_pose timeout (`#6916 `_) * Contributors: Ryohsuke Mitsudome, Shumpei Wakabayashi, Yamato Ando, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* fix(component_state_monitor): change pose_estimator_pose rate (`#6563 `_) -* chore: update api package maintainers (`#6086 `_) +* fix(component_state_monitor): change pose_estimator_pose rate (`#6563 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* feat(component_state_monitor): monitor traffic light recognition output (`#5778 `_) -* feat(component_state_monitor): monitor pose_estimator output (`#5617 `_) -* docs: add readme for interface packages (`#4235 `_) +* feat(component_state_monitor): monitor traffic light recognition output (`#5778 `_) +* feat(component_state_monitor): monitor pose_estimator output (`#5617 `_) +* docs: add readme for interface packages (`#4235 `_) add readme for interface packages -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -35,15 +35,15 @@ Changelog for package component_state_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* fix(component_state_monitor): add dependency on topic_state_monitor (`#3030 `_) -* fix(component_state_monitor): fix lanelet route package (`#2552 `_) -* feat!: replace HADMap with Lanelet (`#2356 `_) +* fix(component_state_monitor): add dependency on topic_state_monitor (`#3030 `_) +* fix(component_state_monitor): fix lanelet route package (`#2552 `_) +* feat!: replace HADMap with Lanelet (`#2356 `_) * feat!: replace HADMap with Lanelet * update topic.yaml * Update perception/traffic_light_map_based_detector/README.md @@ -56,8 +56,8 @@ Changelog for package component_state_monitor Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * format readme Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* chore: add api maintainers (`#2361 `_) -* feat(component_state_monitor): add component state monitor (`#2120 `_) +* chore: add api maintainers (`#2361 `_) +* feat(component_state_monitor): add component state monitor (`#2120 `_) * feat(component_state_monitor): add component state monitor * feat: change module * Contributors: Kenji Miyake, Kosuke Takeuchi, Takagi, Isamu, Tomohito ANDO, Vincent Richard, Yamato Ando, kminoda diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst index 013ce592350b1..4c4f7943578bb 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package ad_api_adaptors 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(ad_api_adaptors): rework parameter (`#8796 `_) +* refactor(ad_api_adaptors): rework parameter (`#8796 `_) * refactor(ad_api_adaptors): rework parameter * * ad_api_adaptors.schema.json @@ -13,19 +13,19 @@ Changelog for package ad_api_adaptors * refactor(ad_api_adaptors): rework parameter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) +* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) * add autoware\_ prefix * style(pre-commit): autofix * remove duplicated dependency --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: SakodaShintaro -* feat(ad_api_adaptors): componentize nodes (`#7022 `_) +* feat(ad_api_adaptors): componentize nodes (`#7022 `_) * Contributors: Masaki Baba, Prakash Kannaiah, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* feat(map_height_fitter): fitting by vector_map (`#6340 `_) +* feat(map_height_fitter): fitting by vector_map (`#6340 `_) * Added fit_target * Fixed group * Fixed to run @@ -49,22 +49,22 @@ Changelog for package ad_api_adaptors --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* chore(default_ad_api_helpers): update readme topic (`#5258 `_) +* chore(default_ad_api_helpers): update readme topic (`#5258 `_) * chore(default_ad_api_helpers): update readme topic * style(pre-commit): autofix * update readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_height_fitter): add service node (`#4128 `_) +* feat(map_height_fitter): add service node (`#4128 `_) * add map height fitter node * fix response success --------- -* docs(ad_api_adaptors): fix readme to remove unused service (`#4117 `_) -* build: mark autoware_cmake as (`#3616 `_) +* docs(ad_api_adaptors): fix readme to remove unused service (`#4117 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -72,16 +72,16 @@ Changelog for package ad_api_adaptors --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(default_ad_api): add route change api (`#3197 `_) +* feat(default_ad_api): add route change api (`#3197 `_) * feat: add route change api * fix: reroute --------- -* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) +* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) * chore(default_ad_api): add yukkysaito to maintainer * add mitsudome-r instead of kenji-miyake --------- -* feat(default_ad_api_helpers): support goal modification for rviz (`#3370 `_) -* feat(map_height_fitter): change map height fitter to library (`#2724 `_) +* feat(default_ad_api_helpers): support goal modification for rviz (`#3370 `_) +* feat(map_height_fitter): change map height fitter to library (`#2724 `_) * feat: move map height fitter * feat: remove map height fitter dependency * apply to initial pose adaptor @@ -94,12 +94,12 @@ Changelog for package ad_api_adaptors This reverts commit 71250342305aad6ac3710625ab2ea1dfd3eca11a. * feat: add map fit log --------- -* chore: add api maintainers (`#2361 `_) -* fix(ad_api_adaptors): fix to merge waypoint (`#2215 `_) +* chore: add api maintainers (`#2361 `_) +* fix(ad_api_adaptors): fix to merge waypoint (`#2215 `_) * fix(ad_api_adaptors): fix to merge waypoint * fix(ad_api_adaptors): update comments and variable name -* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) -* feat(default_ad_api): add localization api (`#1431 `_) +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose @@ -119,7 +119,7 @@ Changelog for package ad_api_adaptors * fix: remove needless keyword * feat: change api helper node namespace * fix: fix launch file path -* feat(default_ad_api): add routing api (`#1494 `_) +* feat(default_ad_api): add routing api (`#1494 `_) * feat(default_ad_api): add routing api * fix: build error * docs: add readme diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index 5a6a3199c088a..f6210809122de 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_adapi_v1_msgs autoware_component_interface_utils autoware_map_height_fitter diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp index ffa6b951ffeca..922c4c30b6254 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp @@ -15,9 +15,9 @@ #ifndef INITIAL_POSE_ADAPTOR_HPP_ #define INITIAL_POSE_ADAPTOR_HPP_ +#include #include #include -#include #include #include @@ -32,7 +32,7 @@ class InitialPoseAdaptor : public rclcpp::Node private: using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; - using Initialize = autoware_ad_api::localization::Initialize; + using Initialize = autoware::adapi_specs::localization::Initialize; rclcpp::Subscription::SharedPtr sub_initial_pose_; autoware::component_interface_utils::Client::SharedPtr cli_initialize_; std::array rviz_particle_covariance_; diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp index 13a047da26c7c..b4577573b665b 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp @@ -15,8 +15,8 @@ #ifndef ROUTING_ADAPTOR_HPP_ #define ROUTING_ADAPTOR_HPP_ +#include #include -#include #include #include @@ -33,10 +33,10 @@ class RoutingAdaptor : public rclcpp::Node private: using PoseStamped = geometry_msgs::msg::PoseStamped; - using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints; - using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints; - using ClearRoute = autoware_ad_api::routing::ClearRoute; - using RouteState = autoware_ad_api::routing::RouteState; + using SetRoutePoints = autoware::adapi_specs::routing::SetRoutePoints; + using ChangeRoutePoints = autoware::adapi_specs::routing::ChangeRoutePoints; + using ClearRoute = autoware::adapi_specs::routing::ClearRoute; + using RouteState = autoware::adapi_specs::routing::RouteState; autoware::component_interface_utils::Client::SharedPtr cli_reroute_; autoware::component_interface_utils::Client::SharedPtr cli_route_; autoware::component_interface_utils::Client::SharedPtr cli_clear_; diff --git a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst index b12567c03499a..bea6efd9c2fe3 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst @@ -9,17 +9,17 @@ Changelog for package ad_api_visualizers 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* refactor(start_planner): rename pull out to start planner (`#3908 `_) -* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) -* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) * chore(default_ad_api): add yukkysaito to maintainer * add mitsudome-r instead of kenji-miyake --------- -* feat(default_ad_api): add planning api (`#2481 `_) +* feat(default_ad_api): add planning api (`#2481 `_) * feat(default_ad_api): add planning api * feat: complement velocity factor * feat: add stop check diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst index 9215b1d4be07e..1e08d0eff6194 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst +++ b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package automatic_pose_initializer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(automatic_pose_initializer): fix plugin name (`#7035 `_) +* fix(automatic_pose_initializer): fix plugin name (`#7035 `_) Fixed automatic_pose_initializer plugin name -* feat(automatic_pose_initializer): componentize node (`#7021 `_) +* feat(automatic_pose_initializer): componentize node (`#7021 `_) * Contributors: SakodaShintaro, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -24,14 +24,14 @@ Changelog for package automatic_pose_initializer --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) +* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) * chore(default_ad_api): add yukkysaito to maintainer * add mitsudome-r instead of kenji-miyake --------- -* chore: add api maintainers (`#2361 `_) -* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) -* fix(automatic_pose_initializer): fix starvation (`#1756 `_) -* feat(default_ad_api): add localization api (`#1431 `_) +* chore: add api maintainers (`#2361 `_) +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* fix(automatic_pose_initializer): fix starvation (`#1756 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index 649192144d032..0f665cfc4f948 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_adapi_v1_msgs autoware_component_interface_utils rclcpp diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp index 7cdf0e3544501..a22a19cc592d2 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp +++ b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp @@ -15,8 +15,8 @@ #ifndef AUTOMATIC_POSE_INITIALIZER_HPP_ #define AUTOMATIC_POSE_INITIALIZER_HPP_ +#include #include -#include #include namespace automatic_pose_initializer @@ -29,8 +29,8 @@ class AutomaticPoseInitializer : public rclcpp::Node private: void on_timer(); - using Initialize = autoware_ad_api::localization::Initialize; - using State = autoware_ad_api::localization::InitializationState; + using Initialize = autoware::adapi_specs::localization::Initialize; + using State = autoware::adapi_specs::localization::InitializationState; rclcpp::CallbackGroup::SharedPtr group_cli_; rclcpp::TimerBase::SharedPtr timer_; autoware::component_interface_utils::Client::SharedPtr cli_initialize_; diff --git a/system/diagnostic_graph_aggregator/CHANGELOG.rst b/system/diagnostic_graph_aggregator/CHANGELOG.rst index ff6880b9a07b6..2398f0bb7f37f 100644 --- a/system/diagnostic_graph_aggregator/CHANGELOG.rst +++ b/system/diagnostic_graph_aggregator/CHANGELOG.rst @@ -5,57 +5,57 @@ Changelog for package diagnostic_graph_aggregator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(diagnostic_graph_aggregator): fix unusedFunction (`#8580 `_) +* fix(diagnostic_graph_aggregator): fix unusedFunction (`#8580 `_) fix: unusedFunction Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* fix(diagnostic_graph_aggregator): fix noConstructor (`#8508 `_) +* fix(diagnostic_graph_aggregator): fix noConstructor (`#8508 `_) fix:noConstructor -* fix(diagnostic_graph_aggregator): fix cppcheck warning of functionStatic (`#8266 `_) +* fix(diagnostic_graph_aggregator): fix cppcheck warning of functionStatic (`#8266 `_) * fix: deal with functionStatic warning * suppress warning by comment --------- -* fix(diagnostic_graph_aggregator): fix uninitMemberVar (`#8313 `_) +* fix(diagnostic_graph_aggregator): fix uninitMemberVar (`#8313 `_) * fix:funinitMemberVar * fix:funinitMemberVar * fix:uninitMemberVar * fix:clang format --------- -* fix(diagnostic_graph_aggregator): fix functionConst (`#8279 `_) +* fix(diagnostic_graph_aggregator): fix functionConst (`#8279 `_) * fix:functionConst * fix:functionConst * fix:clang format --------- -* fix(diagnostic_graph_aggregator): fix constParameterReference (`#8054 `_) +* fix(diagnostic_graph_aggregator): fix constParameterReference (`#8054 `_) fix:constParameterReference -* fix(diagnostic_graph_aggregator): fix constVariableReference (`#8062 `_) +* fix(diagnostic_graph_aggregator): fix constVariableReference (`#8062 `_) * fix:constVariableReference * fix:constVariableReference * fix:constVariableReference * fix:constVariableReference --------- -* fix(diagnostic_graph_aggregator): fix shadowFunction (`#7838 `_) +* fix(diagnostic_graph_aggregator): fix shadowFunction (`#7838 `_) * fix(diagnostic_graph_aggregator): fix shadowFunction * feat: modify variable name --------- Co-authored-by: Takagi, Isamu -* fix(diagnostic_graph_aggregator): fix uselessOverride warning (`#7768 `_) +* fix(diagnostic_graph_aggregator): fix uselessOverride warning (`#7768 `_) * fix(diagnostic_graph_aggregator): fix uselessOverride warning * restore and suppress inline * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(diagnostic_graph_aggregator): fix shadowArgument warning in create_unit_config (`#7664 `_) -* feat(diagnostic_graph_aggregator): componentize node (`#7025 `_) -* fix(diagnostic_graph_aggregator): fix a bug where unit links were incorrectly updated (`#6932 `_) +* fix(diagnostic_graph_aggregator): fix shadowArgument warning in create_unit_config (`#7664 `_) +* feat(diagnostic_graph_aggregator): componentize node (`#7025 `_) +* fix(diagnostic_graph_aggregator): fix a bug where unit links were incorrectly updated (`#6932 `_) fix(diagnostic_graph_aggregator): fix unit link filter -* feat: remake diagnostic graph packages (`#6715 `_) +* feat: remake diagnostic graph packages (`#6715 `_) * Contributors: Hayate TOBA, Koichi98, Ryuta Kambe, Takagi, Isamu, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) ------------------- -* feat(diagnostic_graph_aggregator): update tools (`#6614 `_) -* docs(diagnostic_graph_aggregator): update documents (`#6613 `_) -* feat(diagnostic_graph_aggregator): add dump tool (`#6427 `_) -* feat(diagnostic_graph_aggregator): change default publish rate (`#5872 `_) -* feat(diagnostic_graph_aggregator): rename system_diagnostic_graph package (`#5827 `_) +* feat(diagnostic_graph_aggregator): update tools (`#6614 `_) +* docs(diagnostic_graph_aggregator): update documents (`#6613 `_) +* feat(diagnostic_graph_aggregator): add dump tool (`#6427 `_) +* feat(diagnostic_graph_aggregator): change default publish rate (`#5872 `_) +* feat(diagnostic_graph_aggregator): rename system_diagnostic_graph package (`#5827 `_) * Contributors: Takagi, Isamu diff --git a/system/diagnostic_graph_aggregator/script/dump.py b/system/diagnostic_graph_aggregator/script/dump.py new file mode 100755 index 0000000000000..a647b2677b160 --- /dev/null +++ b/system/diagnostic_graph_aggregator/script/dump.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 + +# Copyright 2024 The Autoware Contributors +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse + +from diagnostic_msgs.msg import DiagnosticStatus +import rclpy +import rclpy.node +from tier4_system_msgs.msg import DiagnosticGraph + + +def print_table(lines: list, header: list): + widths = [0 for _ in range(len(header))] + lines.insert(0, header) + for line in lines: + widths = map(max, widths, map(len, line)) + widths = list(widths) + lines.insert(0, ["-" * w for w in widths]) + lines.insert(2, ["-" * w for w in widths]) + for line in lines: + line = map(lambda v, w: f"{v: {w}}", line, widths) + line = " | ".join(line) + print(f"| {line} |") + + +def get_level_text(level: int): + if level == DiagnosticStatus.OK: + return "OK" + if level == DiagnosticStatus.WARN: + return "WARN" + if level == DiagnosticStatus.ERROR: + return "ERROR" + if level == DiagnosticStatus.STALE: + return "STALE" + return "-----" + + +class NodeData: + def __init__(self, index, node): + self.index = index + self._node = node + + @property + def level(self): + return get_level_text(self._node.status.level) + + @property + def name(self): + return self._node.status.name + + @property + def links(self): + return " ".join(str(link.index) for link in self._node.links) + + @property + def line(self): + return [str(self.index), self.level, self.name, self.links] + + +class DumpNode(rclpy.node.Node): + def __init__(self, args): + super().__init__("dump_diagnostic_graph") + self.sub = self.create_subscription(DiagnosticGraph, args.topic, self.callback, 1) + + def callback(self, msg): + nodes = [NodeData(index, node) for index, node in enumerate(msg.nodes)] + table = [node.line for node in nodes] + print_table(table, ["index", "level", "name", "links"]) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--topic", default="/diagnostics_graph") + args, unparsed = parser.parse_known_args() + + try: + rclpy.init(args=unparsed) + rclpy.spin(DumpNode(args)) + rclpy.shutdown() + except KeyboardInterrupt: + pass diff --git a/system/diagnostic_graph_utils/CHANGELOG.rst b/system/diagnostic_graph_utils/CHANGELOG.rst index 51673855a00f3..8d1a7606444d3 100644 --- a/system/diagnostic_graph_utils/CHANGELOG.rst +++ b/system/diagnostic_graph_utils/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package diagnostic_graph_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) -* feat(diagnostic_graph_utils): componentize node (`#7189 `_) -* feat(default_ad_api): add diagnostics api (`#7052 `_) -* feat: remake diagnostic graph packages (`#6715 `_) +* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) +* feat(diagnostic_graph_utils): componentize node (`#7189 `_) +* feat(default_ad_api): add diagnostics api (`#7052 `_) +* feat: remake diagnostic graph packages (`#6715 `_) * Contributors: Takagi, Isamu, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/system/dummy_diag_publisher/CHANGELOG.rst b/system/dummy_diag_publisher/CHANGELOG.rst index 0aff998ade0f0..1fef1964efc56 100644 --- a/system/dummy_diag_publisher/CHANGELOG.rst +++ b/system/dummy_diag_publisher/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package dummy_diag_publisher 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(dummy_diag_publisher): componentize node (`#7190 `_) +* feat(dummy_diag_publisher): componentize node (`#7190 `_) * Contributors: Kosuke Takeuchi, Takagi, Isamu, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore: update maintainer (`#5730 `_) +* chore: update maintainer (`#5730 `_) update maintainer -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -31,13 +31,13 @@ Changelog for package dummy_diag_publisher --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) +* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) * Signed-off-by: asana17 modified dummy_diag_publisher to use YAML for param * Signed-off-by: asana17 @@ -48,24 +48,24 @@ Changelog for package dummy_diag_publisher * add pkg maintainer * launch dummy_diag_publisher by launch_dummy_diag_publisher param --------- -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix(dummy_diag_publisher): modify build error in rolling (`#760 `_) -* feat(dummy_diag_publisher): use as a component (`#652 `_) +* fix(dummy_diag_publisher): modify build error in rolling (`#760 `_) +* feat(dummy_diag_publisher): use as a component (`#652 `_) * feat(dummy_diag_publisher): use as components * fix: add explicit * fix: fix node name -* fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(dummy_diag_publisher): update README and launch file (`#536 `_) +* chore(dummy_diag_publisher): update README and launch file (`#536 `_) * chore: update README * feat: add param in launch * chore: Update system/dummy_diag_publisher/README.md @@ -74,12 +74,12 @@ Changelog for package dummy_diag_publisher * ci(pre-commit): autofix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(dummy_diag_publisher): add exec_depend (`#523 `_) +* chore(dummy_diag_publisher): add exec_depend (`#523 `_) * chore(dummy_diag_publisher): add exec_depend * Update system/dummy_diag_publisher/package.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* chore: replace legacy timer (`#329 `_) +* chore: replace legacy timer (`#329 `_) * chore(goal_distance_calculator): replace legacy timer * chore(path_distance_calculator): replace legacy timer * chore(control_performance_analysis): replace legacy timer @@ -114,7 +114,7 @@ Changelog for package dummy_diag_publisher * chore(external_cmd_converter): replace legacy timer * chore(pacmod_interface): replace legacy timer * chore(lint): apply pre-commit -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -131,14 +131,14 @@ Changelog for package dummy_diag_publisher * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add dummy_diag_publisher package (`#18 `_) +* feat: add dummy_diag_publisher package (`#18 `_) * release v0.4.0 * remove ROS1 packages temporarily * Revert "remove ROS1 packages temporarily" This reverts commit 6ab6bcca1dea5065fcb06aeec107538dad1f62af. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * ROS2 Porting: dummy_diag_publisher (`#69 `_) + * Rename launch files to launch.xml (`#28 `_) + * ROS2 Porting: dummy_diag_publisher (`#69 `_) * Fix CMake, package.xml and remove COLCON_IGNORE * First pass - Remove ROS references: dynamic_configuration @@ -163,39 +163,39 @@ Changelog for package dummy_diag_publisher * Address PR comment: - Remove headers specification Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> - * Rename h files to hpp (`#142 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * Add linters (`#208 `_) - * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Add linters (`#208 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * add use_sim-time option (`#454 `_) - * Fix for rolling (`#1226 `_) + * add use_sim-time option (`#454 `_) + * Fix for rolling (`#1226 `_) * Replace doc by description * Replace ns by push-ros-namespace - * Remove use_sim_time for set_parameter (`#1260 `_) - * Cleanup dummy_diag_publisher (`#1392 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Cleanup dummy_diag_publisher (`#1392 `_) * Cleanup dummy_diag_publisher * Fix typo * Make double and write comment * Set hardware_id from diag_name * Add const to daig_name and hardware_id Co-authored-by: kosuke55 - * suppress warnings for declare parameters (`#1724 `_) + * suppress warnings for declare parameters (`#1724 `_) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor @@ -214,15 +214,15 @@ Changelog for package dummy_diag_publisher * add Werror * add Werror * fix style - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Fix typo `obstacle_crush` to `obstacle_crash` (`#2031 `_) - * add sort-package-xml hook in pre-commit (`#1881 `_) + * Fix typo `obstacle_crush` to `obstacle_crash` (`#2031 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -236,10 +236,10 @@ Changelog for package dummy_diag_publisher * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Refactor dummy_diag_publisher (`#2151 `_) + * Refactor dummy_diag_publisher (`#2151 `_) * Refactor dummy_diag_publisher * fix depend order - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -251,9 +251,9 @@ Changelog for package dummy_diag_publisher * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in dummy_diag_publisher (`#528 `_) - * add README in dummy diag publisher (`#627 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in dummy_diag_publisher (`#528 `_) + * add README in dummy diag publisher (`#627 `_) Co-authored-by: mitsudome-r Co-authored-by: Nikolai Morin Co-authored-by: Jilada Eccleston diff --git a/system/dummy_infrastructure/CHANGELOG.rst b/system/dummy_infrastructure/CHANGELOG.rst index b6ec51ae7d5c9..25c3bf5d0f6a3 100644 --- a/system/dummy_infrastructure/CHANGELOG.rst +++ b/system/dummy_infrastructure/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package dummy_infrastructure 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(dummy_infrastructure): rework parameters (`#5275 `_) +* refactor(dummy_infrastructure): rework parameters (`#5275 `_) * Contributors: Yuntianyi Chen, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -20,24 +20,24 @@ Changelog for package dummy_infrastructure --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* build(dummy_infrastructure): add build dependency (`#2739 `_) -* feat(dummy_infrastructure): change to multiple virtual signal state outputs (`#1717 `_) +* build(dummy_infrastructure): add build dependency (`#2739 `_) +* feat(dummy_infrastructure): change to multiple virtual signal state outputs (`#1717 `_) * Added parameter to dummy_infrastructure.param.yaml * Modified dummy infrastructure * Modified dummy infrastructure for multiple commands * update dummy_infrastructure -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci: check include guard (`#438 `_) +* ci: check include guard (`#438 `_) * ci: check include guard * apply pre-commit * Update .pre-commit-config.yaml @@ -45,7 +45,7 @@ Changelog for package dummy_infrastructure * fix: pre-commit Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -53,9 +53,9 @@ Changelog for package dummy_infrastructure * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add dummy_infrastructure package (`#19 `_) - * Feature/add virtual traffic light planner (`#1588 `_) - * Change formatter to clang-format and black (`#2332 `_) +* feat: add dummy_infrastructure package (`#19 `_) + * Feature/add virtual traffic light planner (`#1588 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -67,9 +67,9 @@ Changelog for package dummy_infrastructure * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * delete COLCON_IGNORE (`#540 `_) - * add readme [dummy infrastructure] (`#693 `_) + * Add COLCON_IGNORE (`#500 `_) + * delete COLCON_IGNORE (`#540 `_) + * add readme [dummy infrastructure] (`#693 `_) * add readme dummy infra * fix lint * update readme diff --git a/system/duplicated_node_checker/CHANGELOG.rst b/system/duplicated_node_checker/CHANGELOG.rst index 410026b29f94d..406406b49daeb 100644 --- a/system/duplicated_node_checker/CHANGELOG.rst +++ b/system/duplicated_node_checker/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package duplicated_node_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(duplicated_node_checker): fix unusedFunction (`#8579 `_) +* fix(duplicated_node_checker): fix unusedFunction (`#8579 `_) fix: unusedFunction Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* feat(duplicated_node_checker): add duplicate nodes to ignore (`#7959 `_) +* feat(duplicated_node_checker): add duplicate nodes to ignore (`#7959 `_) * feat: add duplicate nodes to ignore * remove talker * newline @@ -21,12 +21,12 @@ Changelog for package duplicated_node_checker 0.26.0 (2024-04-03) ------------------- -* chore(duplicate_node_checker): print duplication name (`#6488 `_) -* feat(duplicated_node_checker): add duplicated node names to msg (`#5382 `_) +* chore(duplicate_node_checker): print duplication name (`#6488 `_) +* feat(duplicated_node_checker): add duplicated node names to msg (`#5382 `_) * add duplicated node names to msg * align with launcher repository --------- -* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) +* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) * add implementation for duplicated node checking * update the default parameters of system_error_monitor to include results from duplication check * style(pre-commit): autofix diff --git a/system/hazard_status_converter/CHANGELOG.rst b/system/hazard_status_converter/CHANGELOG.rst index 151dba1f7d688..c0f54a85f3b27 100644 --- a/system/hazard_status_converter/CHANGELOG.rst +++ b/system/hazard_status_converter/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package hazard_status_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: remake diagnostic graph packages (`#6715 `_) -* fix(hazard_status_converter): check current operation mode (`#6733 `_) +* feat: remake diagnostic graph packages (`#6715 `_) +* fix(hazard_status_converter): check current operation mode (`#6733 `_) * fix: hazard status converter * fix: topic name and modes * fix check target mode @@ -22,6 +22,6 @@ Changelog for package hazard_status_converter 0.26.0 (2024-04-03) ------------------- -* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) -* feat(hazard_status_converter): add package (`#6428 `_) +* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) +* feat(hazard_status_converter): add package (`#6428 `_) * Contributors: Takagi, Isamu diff --git a/system/hazard_status_converter/launch/hazard_status_converter.launch.xml b/system/hazard_status_converter/launch/hazard_status_converter.launch.xml index f3b07bfa94834..84318a921d4ce 100644 --- a/system/hazard_status_converter/launch/hazard_status_converter.launch.xml +++ b/system/hazard_status_converter/launch/hazard_status_converter.launch.xml @@ -2,5 +2,6 @@ + diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml index ec54b4c003080..7d154abb7b26c 100644 --- a/system/hazard_status_converter/package.xml +++ b/system/hazard_status_converter/package.xml @@ -12,6 +12,7 @@ autoware_adapi_v1_msgs autoware_system_msgs + autoware_universe_utils diagnostic_graph_utils diagnostic_msgs rclcpp diff --git a/system/hazard_status_converter/src/converter.cpp b/system/hazard_status_converter/src/converter.cpp index e8213b441bb33..d92af2186f415 100644 --- a/system/hazard_status_converter/src/converter.cpp +++ b/system/hazard_status_converter/src/converter.cpp @@ -117,7 +117,10 @@ void Converter::on_update(DiagGraph::ConstSharedPtr graph) hazard.stamp = graph->updated_stamp(); hazard.status.level = get_system_level(hazard.status); hazard.status.emergency = hazard.status.level == HazardStatus::SINGLE_POINT_FAULT; - hazard.status.emergency_holding = false; + + const auto is_emergency_holding = sub_emergency_holding_.takeData(); + hazard.status.emergency_holding = + is_emergency_holding == nullptr ? false : is_emergency_holding->is_holding; pub_hazard_->publish(hazard); } diff --git a/system/hazard_status_converter/src/converter.hpp b/system/hazard_status_converter/src/converter.hpp index 442eedf588429..8011b911f3d42 100644 --- a/system/hazard_status_converter/src/converter.hpp +++ b/system/hazard_status_converter/src/converter.hpp @@ -15,10 +15,12 @@ #ifndef CONVERTER_HPP_ #define CONVERTER_HPP_ +#include #include #include #include +#include #include @@ -38,6 +40,9 @@ class Converter : public rclcpp::Node void on_update(DiagGraph::ConstSharedPtr graph); diagnostic_graph_utils::DiagGraphSubscription sub_graph_; rclcpp::Publisher::SharedPtr pub_hazard_; + autoware::universe_utils::InterProcessPollingSubscriber< + tier4_system_msgs::msg::EmergencyHoldingState> + sub_emergency_holding_{this, "~/input/emergency_holding"}; DiagUnit * auto_mode_root_; std::unordered_set auto_mode_tree_; diff --git a/system/mrm_comfortable_stop_operator/CHANGELOG.rst b/system/mrm_comfortable_stop_operator/CHANGELOG.rst index bfb6602f7a622..1da165fc4b710 100644 --- a/system/mrm_comfortable_stop_operator/CHANGELOG.rst +++ b/system/mrm_comfortable_stop_operator/CHANGELOG.rst @@ -5,20 +5,20 @@ Changelog for package mrm_comfortable_stop_operator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(mrm_comfortable_stop_operator): remove unused main file (`#7191 `_) +* chore(mrm_comfortable_stop_operator): remove unused main file (`#7191 `_) * Contributors: Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) +* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) chore(mrm_emergency_stop_operator): add a maintainer for mrm operator packages -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -26,19 +26,19 @@ Changelog for package mrm_comfortable_stop_operator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove os import * fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers diff --git a/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp b/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp index 7856c23fa3158..eb84191f481f9 100644 --- a/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp +++ b/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp @@ -17,6 +17,7 @@ // Core #include +#include // Autoware #include @@ -55,6 +56,9 @@ class MrmComfortableStopOperator : public rclcpp::Node const tier4_system_msgs::srv::OperateMrm::Request::SharedPtr request, const tier4_system_msgs::srv::OperateMrm::Response::SharedPtr response); + rcl_interfaces::msg::SetParametersResult onParameter( + const std::vector & parameters); + // Publisher rclcpp::Publisher::SharedPtr pub_status_; rclcpp::Publisher::SharedPtr pub_velocity_limit_; @@ -72,6 +76,9 @@ class MrmComfortableStopOperator : public rclcpp::Node // States tier4_system_msgs::msg::MrmBehaviorStatus status_; + + // Parameter callback + OnSetParametersCallbackHandle::SharedPtr set_param_res_; }; } // namespace mrm_comfortable_stop_operator diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml index 67211c95d4bdf..92a9569bf329a 100644 --- a/system/mrm_comfortable_stop_operator/package.xml +++ b/system/mrm_comfortable_stop_operator/package.xml @@ -12,6 +12,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_universe_utils rclcpp rclcpp_components std_msgs diff --git a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp index 5c9562463f891..6b18555053582 100644 --- a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp +++ b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp @@ -14,6 +14,8 @@ #include "mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp" +#include + namespace mrm_comfortable_stop_operator { @@ -48,6 +50,10 @@ MrmComfortableStopOperator::MrmComfortableStopOperator(const rclcpp::NodeOptions // Initialize status_.state = tier4_system_msgs::msg::MrmBehaviorStatus::AVAILABLE; + + // Parameter Callback + set_param_res_ = add_on_set_parameters_callback( + std::bind(&MrmComfortableStopOperator::onParameter, this, std::placeholders::_1)); } void MrmComfortableStopOperator::operateComfortableStop( @@ -65,6 +71,20 @@ void MrmComfortableStopOperator::operateComfortableStop( } } +rcl_interfaces::msg::SetParametersResult MrmComfortableStopOperator::onParameter( + const std::vector & parameters) +{ + using autoware::universe_utils::updateParam; + updateParam(parameters, "min_acceleration", params_.min_acceleration); + updateParam(parameters, "max_jerk", params_.max_jerk); + updateParam(parameters, "min_jerk", params_.min_jerk); + + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + result.reason = "success"; + return result; +} + void MrmComfortableStopOperator::publishStatus() const { auto status = status_; diff --git a/system/mrm_emergency_stop_operator/CHANGELOG.rst b/system/mrm_emergency_stop_operator/CHANGELOG.rst index 83df65ec5d921..e8a4611e43299 100644 --- a/system/mrm_emergency_stop_operator/CHANGELOG.rst +++ b/system/mrm_emergency_stop_operator/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package mrm_emergency_stop_operator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(mrm_emergency_stop_operator): add support for real time param reconfigure for mrm_emergency_stop (`#6994 `_) +* feat(mrm_emergency_stop_operator): add support for real time param reconfigure for mrm_emergency_stop (`#6994 `_) add support for real time param reconfigure for mrm_emergency_stop * Contributors: Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, danielsanchezaran 0.26.0 (2024-04-03) ------------------- -* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) +* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) chore(mrm_emergency_stop_operator): add a maintainer for mrm operator packages -* docs(mrm_emergency_stop_operator): fix file name (`#4226 `_) -* style: fix typos (`#3617 `_) +* docs(mrm_emergency_stop_operator): fix file name (`#4226 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -35,13 +35,13 @@ Changelog for package mrm_emergency_stop_operator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove os import * fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers diff --git a/system/mrm_handler/CHANGELOG.rst b/system/mrm_handler/CHANGELOG.rst index 9b3aa1e525df7..92b7cb8a59351 100644 --- a/system/mrm_handler/CHANGELOG.rst +++ b/system/mrm_handler/CHANGELOG.rst @@ -5,33 +5,33 @@ Changelog for package mrm_handler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(mrm_handler, emergency_handler): remove unnecessary depend (`#8099 `_) +* fix(mrm_handler, emergency_handler): remove unnecessary depend (`#8099 `_) * fix(mrm_handler): remove unnecessary depends * fix(emergency_handler): remove unnecessary depends --------- -* feat(mrm_handler): input gear command (`#8080 `_) +* feat(mrm_handler): input gear command (`#8080 `_) * feat(mrm_handler): input gear command * style(pre-commit): autofix * fix minor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(mrm_handler): add check for autonomous mode and do some refactoring (`#8067 `_) +* fix(mrm_handler): add check for autonomous mode and do some refactoring (`#8067 `_) * add check for autonomous mode and do some refactoring * add comments * fix comment --------- -* feat(mrm_handler): operate mrm only when autonomous operation mode (`#7784 `_) +* feat(mrm_handler): operate mrm only when autonomous operation mode (`#7784 `_) * feat: add isOperationModeAutonomous() function to MRM handler core The code changes add a new function `isOperationModeAutonomous()` to the MRM handler core. This function is used to check if the operation mode is set to autonomous. --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(mrm_handler): fix multiCondition warning (`#7543 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(mrm_handler): fix multiCondition warning (`#7543 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(mrm_handler): fix stop judgement (`#7362 `_) +* fix(mrm_handler): fix stop judgement (`#7362 `_) fix stop judgement Co-authored-by: Autumn60 -* feat(emergency_handler, mrm_handler): change to read topic by polling (`#7297 `_) +* feat(emergency_handler, mrm_handler): change to read topic by polling (`#7297 `_) * replace Subscription to InterProcessPollingSubscriber * sort depend packages list in package.xml * fix end of file @@ -40,29 +40,29 @@ Changelog for package mrm_handler * replace Subscription to InterProcessPollingSubscriber (mrm_handler) --------- Co-authored-by: Autumn60 -* refactor(mrm_handler): use switch for state machine (`#7277 `_) +* refactor(mrm_handler): use switch for state machine (`#7277 `_) * refactor nested if elses * delete other commits * return for consistency --------- -* fix(emergency_handler,mrm_handler): check for ego speed when determining the gear command (`#7264 `_) +* fix(emergency_handler,mrm_handler): check for ego speed when determining the gear command (`#7264 `_) * check for ego speed when determining the gear command * add gear history * update msg types --------- Co-authored-by: veqcc -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: componentize-mrm-handler (`#7018 `_) +* feat: componentize-mrm-handler (`#7018 `_) * Contributors: Autumn60, Kosuke Takeuchi, Kyoichi Sugahara, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, TetsuKawa, Yutaka Kondo, danielsanchezaran 0.26.0 (2024-04-03) ------------------- -* fix(mrm_handler): fix bug in operation mode availability timeout (`#6513 `_) +* fix(mrm_handler): fix bug in operation mode availability timeout (`#6513 `_) * fix operation mode availability timeout -* feat: add timeouts of request services (`#6532 `_) +* feat: add timeouts of request services (`#6532 `_) * feat: add timeouts of request services * style(pre-commit): autofix * feat: replace define with enum @@ -74,11 +74,11 @@ Changelog for package mrm_handler Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Ryuta Kambe -* refactor(mrm_handler): delete control_cmd publish function (`#6514 `_) +* refactor(mrm_handler): delete control_cmd publish function (`#6514 `_) * refactor(mrm_handler): delete control_cmd publish function -* feat(mrm_handler, emergency_handler): remove takeover (`#6522 `_) +* feat(mrm_handler, emergency_handler): remove takeover (`#6522 `_) update(mrm_handler, emergency_handler): remove takeover -* feat(mrm_handler): add mrm_handler (`#6400 `_) +* feat(mrm_handler): add mrm_handler (`#6400 `_) * feat: add mrm_handler * style(pre-commit): autofix * modify: update README diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp index f73d0df4153ce..b292ab1d874d3 100644 --- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp +++ b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include #include @@ -109,6 +110,10 @@ class MrmHandler : public rclcpp::Node autoware_adapi_v1_msgs::msg::MrmState mrm_state_; void publishMrmState(); + rclcpp::Publisher::SharedPtr + pub_emergency_holding_; + void publishEmergencyHolding(); + // Clients rclcpp::CallbackGroup::SharedPtr client_mrm_pull_over_group_; rclcpp::Client::SharedPtr client_mrm_pull_over_; diff --git a/system/mrm_handler/launch/mrm_handler.launch.xml b/system/mrm_handler/launch/mrm_handler.launch.xml index c99b22e10ad77..51a22cf92bebc 100644 --- a/system/mrm_handler/launch/mrm_handler.launch.xml +++ b/system/mrm_handler/launch/mrm_handler.launch.xml @@ -12,6 +12,7 @@ + @@ -32,6 +33,7 @@ + diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp index 0fc0cb29ecf21..4022bdaadebef 100644 --- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp +++ b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp @@ -49,6 +49,8 @@ MrmHandler::MrmHandler(const rclcpp::NodeOptions & options) : Node("mrm_handler" create_publisher("~/output/gear", rclcpp::QoS{1}); pub_mrm_state_ = create_publisher("~/output/mrm/state", rclcpp::QoS{1}); + pub_emergency_holding_ = create_publisher( + "~/output/emergency_holding", rclcpp::QoS{1}); // Clients client_mrm_pull_over_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); @@ -153,6 +155,14 @@ void MrmHandler::publishMrmState() pub_mrm_state_->publish(mrm_state_); } +void MrmHandler::publishEmergencyHolding() +{ + tier4_system_msgs::msg::EmergencyHoldingState msg; + msg.stamp = this->now(); + msg.is_holding = is_emergency_holding_; + pub_emergency_holding_->publish(msg); +} + void MrmHandler::operateMrm() { using autoware_adapi_v1_msgs::msg::MrmState; @@ -352,6 +362,7 @@ void MrmHandler::onTimer() publishMrmState(); publishHazardCmd(); publishGearCmd(); + publishEmergencyHolding(); } void MrmHandler::transitionTo(const int new_state) diff --git a/system/system_diagnostic_monitor/CHANGELOG.rst b/system/system_diagnostic_monitor/CHANGELOG.rst index dc237f55ab53c..f25eab5c7fed4 100644 --- a/system/system_diagnostic_monitor/CHANGELOG.rst +++ b/system/system_diagnostic_monitor/CHANGELOG.rst @@ -5,24 +5,24 @@ Changelog for package system_diagnostic_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) +* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) * fix(localization_error_monitor): fix to use diagnostics_module in localization_util * fix: update media * fix: update component name * fix: rename include file --------- -* feat(autonomous_emergency_braking): enable AEB emergency stop (`#8255 `_) +* feat(autonomous_emergency_braking): enable AEB emergency stop (`#8255 `_) enable AEB emergency stop -* fix(system_diagnostic_monitor): fix local mode config (`#7532 `_) -* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) -* feat(default_ad_api): use diagnostic graph (`#7043 `_) -* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) +* fix(system_diagnostic_monitor): fix local mode config (`#7532 `_) +* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) +* feat(default_ad_api): use diagnostic graph (`#7043 `_) +* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) rename ndt diag -* feat: remake diagnostic graph packages (`#6715 `_) +* feat: remake diagnostic graph packages (`#6715 `_) * Contributors: RyuYamamoto, Takagi, Isamu, Yamato Ando, Yutaka Kondo, danielsanchezaran 0.26.0 (2024-04-03) ------------------- -* feat(system_diagnostic_graph): change config file format (`#5340 `_) -* feat: system diagnostic monitor (`#4722 `_) +* feat(system_diagnostic_graph): change config file format (`#5340 `_) +* feat: system diagnostic monitor (`#4722 `_) * Contributors: Takagi, Isamu diff --git a/system/system_monitor/CHANGELOG.rst b/system/system_monitor/CHANGELOG.rst index 874e58908e8be..b5c97c09e28df 100644 --- a/system/system_monitor/CHANGELOG.rst +++ b/system/system_monitor/CHANGELOG.rst @@ -6,91 +6,91 @@ Changelog for package system_monitor ------------------- * remove system_monitor/CHANGELOG.rst * unify package.xml version to 0.37.0 -* fix(system_monitor): fix variableScope (`#8448 `_) +* fix(system_monitor): fix variableScope (`#8448 `_) fix:variableScope -* fix(system_monitor): fix unusedStructMember (`#8401 `_) +* fix(system_monitor): fix unusedStructMember (`#8401 `_) * fix:unusedStructMember * fix:clang format * fix:clang format --------- -* fix(system_monitor): fix unreadVariable (`#8372 `_) +* fix(system_monitor): fix unreadVariable (`#8372 `_) fix:unreadVariable -* fix(system_monitor): fix shadowVariable (`#7981 `_) +* fix(system_monitor): fix shadowVariable (`#7981 `_) fix:shadowVariable -* fix(system_monitor): apply cppcheck-suppress for cstyleCast (`#7867 `_) +* fix(system_monitor): apply cppcheck-suppress for cstyleCast (`#7867 `_) * fix(system_monitor): apply cppcheck-suppress for cstyleCast * fix(system_monitor): apply cppcheck-suppress for cstyleCast * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(net_monitor): fix cppcheck warnings (`#7573 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(net_monitor): fix cppcheck warnings (`#7573 `_) * fix unusedVariable warning * fix unusedVariable warning * fix variableScope warning * fix unreadVariable warning * fix --------- -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(system_monitor): fix unsignedLessThanZero warning (`#7545 `_) -* ci(pre-commit): autoupdate (`#7499 `_) +* fix(system_monitor): fix unsignedLessThanZero warning (`#7545 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* fix(system_monitor): fix warning of containerOutOfBounds (`#6927 `_) +* fix(system_monitor): fix warning of containerOutOfBounds (`#6927 `_) * Contributors: Koichi98, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 0.26.0 (2024-04-03) ------------------- -* fix(system_monitor): move headers to a separate directory (`#5942 `_) +* fix(system_monitor): move headers to a separate directory (`#5942 `_) * fix(system_monitor): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): fix uninitialized diag level of process monitor (`#5753 `_) -* chore: update maintainer (`#5730 `_) +* fix(system_monitor): fix uninitialized diag level of process monitor (`#5753 `_) +* chore: update maintainer (`#5730 `_) update maintainer -* fix(system_monitor): output command line (`#5430 `_) +* fix(system_monitor): output command line (`#5430 `_) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* perf(system_monitor): fix program command line reading (`#5191 `_) +* perf(system_monitor): fix program command line reading (`#5191 `_) * Fix program command line reading * style(pre-commit): autofix * fix spelling commandline->command_line --------- Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ntp_monitor): move chronyc command execution to a timer (`#4634 `_) +* fix(ntp_monitor): move chronyc command execution to a timer (`#4634 `_) * fix(ntp_monitor): move chronyc command execution to a timer * add newly added parameter timeout to config --------- Co-authored-by: Hiroki OTA -* fix(system_monitor): high-memory process are not provided in MEM order (`#4654 `_) +* fix(system_monitor): high-memory process are not provided in MEM order (`#4654 `_) * fix(process_monitor): high-memory process are not being provided in %MEM order * changed option from 'g' to 'n' --------- -* fix(system_monitor): extend command line to display (`#4553 `_) -* feat(system_monitor): add detection of ECC memory errors (`#3795 `_) +* fix(system_monitor): extend command line to display (`#4553 `_) +* feat(system_monitor): add detection of ECC memory errors (`#3795 `_) * feat(system_monitor): add detection of ECC memory errors * style(pre-commit): autofix * fix process crash when edac-utils is not installed * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(perception): remove UB reinterpret_cast (`#3383 `_) +* fix(perception): remove UB reinterpret_cast (`#3383 `_) * fix(perception): remove UB reinterpret_cast see https://github.com/autowarefoundation/autoware.universe/issues/3215 * fix(pointcloud_preprocessor): remove UB reinterpret_cast * refactor --------- -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -98,17 +98,17 @@ Changelog for package system_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build(system_monitor): added missing Boost dependencies (`#2881 `_) +* build(system_monitor): added missing Boost dependencies (`#2881 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* build(system_monitor): add build dependency (`#2740 `_) -* fix(system_monitor): change default param path (`#2560 `_) -* fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load (`#2474 `_) +* build(system_monitor): add build dependency (`#2740 `_) +* fix(system_monitor): change default param path (`#2560 `_) +* fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load (`#2474 `_) * fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load * ci(pre-commit): autofix * fix(system_monitor): fix include guards @@ -129,17 +129,17 @@ Changelog for package system_monitor * fix(net_monitor): update README * fix(net_monitor): add lock guard to protect variable Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: replace python launch with xml launch for system monitor (`#2430 `_) +* feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(system_monitor): add maintainer (`#2420 `_) -* refactor(system_monitor/hdd_monitor): rename structs and functions (`#2144 `_) +* chore(system_monitor): add maintainer (`#2420 `_) +* refactor(system_monitor/hdd_monitor): rename structs and functions (`#2144 `_) * refactor(system_monitor/hdd_monitor): rename structs and functions * fix a mistake -* chore(system_monitor): fix typos (`#2142 `_) -* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) +* chore(system_monitor): fix typos (`#2142 `_) +* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) * adding document for voltage monitor * ci(pre-commit): autofix * fixed for the issue of multithread @@ -159,36 +159,36 @@ Changelog for package system_monitor * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -199,7 +199,7 @@ Changelog for package system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -209,50 +209,50 @@ Changelog for package system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -273,36 +273,36 @@ Changelog for package system_monitor * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -313,7 +313,7 @@ Changelog for package system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -323,50 +323,50 @@ Changelog for package system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -376,11 +376,11 @@ Changelog for package system_monitor * merge main ->feature_battery_monitoring * Added voltages are provisional values. * ci(pre-commit): autofix - * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) + * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) * feat(behavior_path_planner): add and change parameters * update * update - * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) + * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) * refactor(perception_util): refactor matching function in perception_util * fix namespace * refactor @@ -388,7 +388,7 @@ Changelog for package system_monitor * fix bug * add const * refactor function name - * refactor(perception_utils): refactor object_classification (`#2042 `_) + * refactor(perception_utils): refactor object_classification (`#2042 `_) * refactor(perception_utils): refactor object_classification * fix bug * fix unittest @@ -396,14 +396,14 @@ Changelog for package system_monitor * fix unit test * remove redundant else * refactor variable name - * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) - * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) - * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) + * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) + * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) * refactor(osqp_interface, motion_velocity_smoother): unsolved status log * Update common/osqp_interface/src/osqp_interface.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) + * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) Co-authored-by: Yusuke Muramatsu * change name hardware_monitor -> voltage_monitor * copy right 2020 -> 2022 @@ -428,36 +428,36 @@ Changelog for package system_monitor * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -468,7 +468,7 @@ Changelog for package system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -478,50 +478,50 @@ Changelog for package system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -539,36 +539,36 @@ Changelog for package system_monitor * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -579,7 +579,7 @@ Changelog for package system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -589,50 +589,50 @@ Changelog for package system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -675,7 +675,7 @@ Changelog for package system_monitor Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Yusuke Muramatsu -* feat: add HDD monitoring items to hdd_monitor (`#721 `_) +* feat: add HDD monitoring items to hdd_monitor (`#721 `_) * feat: add HDD monitoring items to hdd_monitor * fix pre-commit C long type error * fixed the monitoring method of RecoveredError @@ -686,7 +686,7 @@ Changelog for package system_monitor * fix(system_monitor): level change when not connected in HDD connection monitoring * fix(system_monitor): unmount function added in hdd_reader * fix(system_monitor): separate S.M.A.R.T. request and lazy unmount request for hdd_reader -* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) +* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) * feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor * fix build errors caused by merge mistakes * fix(system_monitor): chang word Reasm and fix deep nesting @@ -696,63 +696,63 @@ Changelog for package system_monitor * fix(system_monitor): remove unnecessary static_cast * fix(system_monitor): typo fix Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat: add GPU clock monitoring to gpu_monitor (`#687 `_) -* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) +* feat: add GPU clock monitoring to gpu_monitor (`#687 `_) +* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* fix(system_monitor): incorrect counter increment in CPU Usage monitor (`#1783 `_) +* fix(system_monitor): incorrect counter increment in CPU Usage monitor (`#1783 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat: add CRC error monitoring to net_monitor (`#638 `_) +* feat: add CRC error monitoring to net_monitor (`#638 `_) * feat: add CRC error monitoring to net_monitor * add CRC error monitoring information to README.md * ci(pre-commit): autofix Co-authored-by: noriyuki.h Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): multithreading support for boost::process (`#1714 `_) -* fix(system_monitor): move top command execution to a timer (`#948 `_) +* fix(system_monitor): multithreading support for boost::process (`#1714 `_) +* fix(system_monitor): move top command execution to a timer (`#948 `_) * fix(system_monitor): move top command execution to a timer * removed unnecessary update method * use tier4_autoware_utils::StopWatch * Ensure thread-safe -* fix(system_monitor): add some smart information to diagnostics (`#708 `_) -* fix(system_monitor): fix truncation warning in strncpy (`#872 `_) +* fix(system_monitor): add some smart information to diagnostics (`#708 `_) +* fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo -* feat: isolate gtests in all packages (`#693 `_) -* fix(system_monitor): fix build error on tegra platform (`#869 `_) +* feat: isolate gtests in all packages (`#693 `_) +* fix(system_monitor): fix build error on tegra platform (`#869 `_) * fix(system_monitor): fix build error on tegra platform * ci(pre-commit): autofix * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp Co-authored-by: Shark Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove bad chars (`#845 `_) -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(system_monitor): modify build error in rolling (`#788 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(system_monitor): modify build error in rolling (`#788 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(system_monitor): add some smart information to diagnostics (`#560 `_) +* feat(system_monitor): add some smart information to diagnostics (`#560 `_) * feat(system_monitor): add some smart information to diagnostics * ci(pre-commit): autofix * modify regex for nvme device name Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(system_monitor): change method of CPU usage monitoring (`#557 `_) - * feat(lidar_detection): changing default input topic name of lidar detection nodes (`#433 `_) +* feat(system_monitor): change method of CPU usage monitoring (`#557 `_) + * feat(lidar_detection): changing default input topic name of lidar detection nodes (`#433 `_) * feat(system_monitor): change method of CPU usage monitoring Co-authored-by: Taichi Higashide -* feat(hdd_monitor): add unit to value side as well as other metrics (`#325 `_) -* feat: add cpu usage topic (`#353 `_) +* feat(hdd_monitor): add unit to value side as well as other metrics (`#325 `_) +* feat: add cpu usage topic (`#353 `_) * modified for publishing cpu_usage_api * modified for calib error output and cpu usage output * modified push_back condition @@ -768,13 +768,13 @@ Changelog for package system_monitor * modify unnecessary change for pull request * run pre-commit * modify unnecessary change - * modified along the comments on PR `#353 `_ - * modified along the comments on PR `#353 `_ + * modified along the comments on PR `#353 `_ + * modified along the comments on PR `#353 `_ * remove unnecessary process Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(system_monitor): handle parameter as mount point (`#259 `_) -* fix(system_monitor): fix build error on aarch64 (`#263 `_) -* feat: change launch package name (`#186 `_) +* feat(system_monitor): handle parameter as mount point (`#259 `_) +* fix(system_monitor): fix build error on aarch64 (`#263 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch @@ -792,22 +792,22 @@ Changelog for package system_monitor Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tanaka3 Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* chore(sync): merged autoware.iv/pull/2362 (`#761 `_) (`#134 `_) +* chore(sync): merged autoware.iv/pull/2362 (`#761 `_) (`#134 `_) Co-authored-by: h-mitsui-esol <57085544+h-mitsui-esol@users.noreply.github.com> -* feat: add autoware_system_monitor package (`#14 `_) +* feat: add autoware_system_monitor package (`#14 `_) * release v0.4.0 - * Fixed uninitialized variable. (`#763 `_) - * Fixed various bugs. (`#768 `_) + * Fixed uninitialized variable. (`#763 `_) + * Fixed various bugs. (`#768 `_) * Fixed various bugs. * Fixed wrong status report of NIC. - * Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (`#788 `_) - * fix uninitialized variables (`#816 `_) + * Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (`#788 `_) + * fix uninitialized variables (`#816 `_) * remove ROS1 packages temporarily * Revert "remove ROS1 packages temporarily" This reverts commit a9436882d50dc09fa5b8d6c0a151a10def76b242. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * Port system monitor to ros2 (`#71 `_) + * Rename launch files to launch.xml (`#28 `_) + * Port system monitor to ros2 (`#71 `_) * Implement a utility function that spins and updates a monitor node. * Port cpu monitor * Port hdd monitor. @@ -820,89 +820,89 @@ Changelog for package system_monitor * Clean up the build and launch files: * Clean up and comment on CMake and package files. * Port the launch file to ROS2 - * Rename h files to hpp (`#142 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * ROS2 Linting: system_monitor (`#207 `_) + * ROS2 Linting: system_monitor (`#207 `_) * Add linters * Fix clang-tidy error in util.hpp - * Ros2 v0.8.0 system monitor (`#276 `_) + * Ros2 v0.8.0 system monitor (`#276 `_) * fix dependency of system_monitor - * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * Exclude SwPowerCap as an error. (`#1146 `_) (`#364 `_) + * Exclude SwPowerCap as an error. (`#1146 `_) (`#364 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> - * [Update v0.9.0] system monitor (`#365 `_) - * Disable CPU Load Average warning. (`#1147 `_) - * Fix cpu_monitor respawning forever. (`#1150 `_) - * Disable cpu_temperature in planning simulation (`#1151 `_) - * Net Monitor: Handle as an error if specified device not exist. (`#1152 `_) + * [Update v0.9.0] system monitor (`#365 `_) + * Disable CPU Load Average warning. (`#1147 `_) + * Fix cpu_monitor respawning forever. (`#1150 `_) + * Disable cpu_temperature in planning simulation (`#1151 `_) + * Net Monitor: Handle as an error if specified device not exist. (`#1152 `_) * Handled as an error if specified device not exist. * Disable network diags in simulation Co-authored-by: Kenji Miyake * apply ament_uncrustify - * Disable resource monitoring in planning_simulator (`#1172 `_) - * Treat logging errors as safe faults (`#1164 `_) - * Fix test code of system_monitor (`#1178 `_) + * Disable resource monitoring in planning_simulator (`#1172 `_) + * Treat logging errors as safe faults (`#1164 `_) + * Fix test code of system_monitor (`#1178 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Use thread for ntpdate. (`#1160 `_) (`#375 `_) - * Use thread for ntpdate. (`#1160 `_) + * Use thread for ntpdate. (`#1160 `_) (`#375 `_) + * Use thread for ntpdate. (`#1160 `_) * removed unused variable - * Import v0.9.1 (`#431 `_) - * add local optimal solution ocillation check to ndt_scan_matcher (`#1182 `_) - * Add obstacle_crush diagnostic (`#1186 `_) - * Fix diagnostics api (`#1185 `_) + * Import v0.9.1 (`#431 `_) + * add local optimal solution ocillation check to ndt_scan_matcher (`#1182 `_) + * Add obstacle_crush diagnostic (`#1186 `_) + * Fix diagnostics api (`#1185 `_) * Fix diagnostics api * Don't overwrite level * Overwrite level of No Fault diagnostics - * Add missing diag in autoware_error_monitor.yaml (`#1187 `_) - * Filter hazard_status (`#1191 `_) + * Add missing diag in autoware_error_monitor.yaml (`#1187 `_) + * Filter hazard_status (`#1191 `_) * Filter hazard_status * Filter leaf diagnostics - * Fix wrong calculation of available memory. (`#1168 `_) + * Fix wrong calculation of available memory. (`#1168 `_) * Fixed wrong calculation of available memory. * Added comments about output example of free -tb command. - * Change monitoring method to get HDD temperature and usage per specified device. (`#1195 `_) + * Change monitoring method to get HDD temperature and usage per specified device. (`#1195 `_) * Changed monitoring method to get temperature and usage per specified device. * Fixed test codes. * Removed unnecessary (void) parameter. - * return input pointcloud when ground plane not found (`#1190 `_) - * fix yaw-smoothing bug (`#1198 `_) + * return input pointcloud when ground plane not found (`#1190 `_) + * fix yaw-smoothing bug (`#1198 `_) * Fix lint Co-authored-by: Taichi Higashide Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: tkimura4 - * Fix typo in system module (`#434 `_) + * Fix typo in system module (`#434 `_) * Fix typo in system module * Change variable name * Move comments * Apply uncrustify - * Split system_monitor config (`#452 `_) - * Remove unnecessary diagnostic update. (`#455 `_) - * add use_sim-time option (`#454 `_) - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * Split system_monitor config (`#452 `_) + * Remove unnecessary diagnostic update. (`#455 `_) + * add use_sim-time option (`#454 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) * add readme of simple_planning_simulator * Update simulator/simple_planning_simulator/README.md - * set transit_margin_time to intersect. planner (`#460 `_) - * Fix pose2twist (`#462 `_) - * Ros2 vehicle info param server (`#447 `_) + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) * add vehicle_info_param_server * update vehicle info * apply format @@ -910,7 +910,7 @@ Changelog for package system_monitor * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * Ros2 fix topic name part2 (`#425 `_) * Fix topic name of traffic_light_classifier * Fix topic name of traffic_light_visualization * Fix topic name of traffic_light_ssd_fine_detector @@ -920,19 +920,19 @@ Changelog for package system_monitor * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * Fix issues in hdd_reader (`#466 `_) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct - * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) - * Rviz overlay render fix (`#461 `_) + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified * acquire data in mutex * back to RTD as superclass - * Rviz overlay render in update (`#465 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -946,7 +946,7 @@ Changelog for package system_monitor Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Fix issues in gpu_monitor (`#1248 `_) + * Fix issues in gpu_monitor (`#1248 `_) * Fix issues in gpu_monitor * Fix uninitialized variables * Use range-based for loop @@ -954,13 +954,13 @@ Changelog for package system_monitor * Replace C-style to C++-style * Make iterators const * Fix fmt::format() usage error - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * [system_monitor] change some nodes into components (`#1234 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * [system_monitor] change some nodes into components (`#1234 `_) Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: Takeshi Miura Co-authored-by: wep21 - * add system_monitor.launch.py (`#1238 `_) + * add system_monitor.launch.py (`#1238 `_) * add system_monitor.launch.py * refactor system_monitor.launch.py * fix launch bug @@ -968,50 +968,50 @@ Changelog for package system_monitor * fix launch py * fix param loading * format code - * fix system monitor executor to publish diagnostics asynclonously (`#1283 `_) - * Fix lint errors (`#1378 `_) + * fix system monitor executor to publish diagnostics asynclonously (`#1283 `_) + * Fix lint errors (`#1378 `_) * Fix lint errors * Fix variable names - * Add kernel CPU usage. (`#1465 `_) + * Add kernel CPU usage. (`#1465 `_) * Add kernel CPU usage. * Change CPU x: usage to CPU x: total. * Changed variable name. - * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier (`#1661 `_) * Add markdownlint and prettier * Ignore .param.yaml * Apply format - * suppress warnings for system monitor (`#1723 `_) + * suppress warnings for system monitor (`#1723 `_) * fix for hdd_monitor * fix no initialization and warning - * change command for ntp_monitor (`#1705 `_) + * change command for ntp_monitor (`#1705 `_) * [EVT4-403] change command for ntp_monitor * [EVT4-403] fixed CI build error * [EVT4-403] fixed cpplint error * delete executeChronyc thread, fix error topic and log output code * fix cpplint error and code style divergence * fix cpplint error(missing correction) - * Fix MD029 (`#1813 `_) - * Fix -Wunused-parameter (`#1836 `_) + * Fix MD029 (`#1813 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * add gpu usage per process (`#1798 `_) + * add gpu usage per process (`#1798 `_) * add gpu usage per process * change illegal usage(4294967295%) to 0%, and fix CI running errors * Replace gettimeofday with rclcpp::Node::now(). * Fix uncrustify error. * Replace rclcpp::Node::now() with rclcpp::Clock(RCL_SYSTEM_TIME). Co-authored-by: ito-san - * fix some typos (`#1941 `_) + * fix some typos (`#1941 `_) * fix some typos * fix typo * Fix typo Co-authored-by: Kenji Miyake - * suppress warnings for system directory `#2046 `_ - * add sort-package-xml hook in pre-commit (`#1881 `_) + * suppress warnings for system directory `#2046 `_ + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -1025,8 +1025,8 @@ Changelog for package system_monitor * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Add execution time logging. (`#2066 `_) - * Add markdown-link-check pre-commit (`#2215 `_) + * Add execution time logging. (`#2066 `_) + * Add markdown-link-check pre-commit (`#2215 `_) * add markdown-lint-check pre-commit * delete files argument * add optional hook @@ -1041,7 +1041,7 @@ Changelog for package system_monitor * Ignore tier4 github url * Update link Co-authored-by: Kenji Miyake - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -1053,8 +1053,8 @@ Changelog for package system_monitor * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) Co-authored-by: mitsudome-r Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Kazuki Miyahara diff --git a/system/topic_state_monitor/CHANGELOG.rst b/system/topic_state_monitor/CHANGELOG.rst index f47e2edb1079c..8c636a421375c 100644 --- a/system/topic_state_monitor/CHANGELOG.rst +++ b/system/topic_state_monitor/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package topic_state_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(topic_state_monitor): enrich error log message (`#7236 `_) +* chore(topic_state_monitor): enrich error log message (`#7236 `_) * Contributors: Takamasa Horibe, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* refactor(topic_state_monitor): add state log message (`#5378 `_) +* refactor(topic_state_monitor): add state log message (`#5378 `_) * refactor(topic_state_monitor): add state log message * add debug print --------- -* docs(topic_state_monitor): rename readme to README (`#4225 `_) -* chore: update maintainer (`#4140 `_) +* docs(topic_state_monitor): rename readme to README (`#4225 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -25,27 +25,27 @@ Changelog for package topic_state_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(topic_state_monitor): support transform topic check (`#1586 `_) -* refactor(topic_state_monitor): move the parameter group to match implementation (`#1909 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat(topic_state_monitor): support transform topic check (`#1586 `_) +* refactor(topic_state_monitor): move the parameter group to match implementation (`#1909 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: replace legacy timer (`#329 `_) +* chore: replace legacy timer (`#329 `_) * chore(goal_distance_calculator): replace legacy timer * chore(path_distance_calculator): replace legacy timer * chore(control_performance_analysis): replace legacy timer @@ -80,28 +80,28 @@ Changelog for package topic_state_monitor * chore(external_cmd_converter): replace legacy timer * chore(pacmod_interface): replace legacy timer * chore(lint): apply pre-commit -* feat: add topic_state_monitor package (`#15 `_) - * Ros2 v0.8.0 topic state monitor (`#283 `_) - * Add node_name_suffix to topic_state_monitor.launch (`#1157 `_) (`#370 `_) - * fix launch file (`#411 `_) - * add transient local option to topic state monitor (`#410 `_) +* feat: add topic_state_monitor package (`#15 `_) + * Ros2 v0.8.0 topic state monitor (`#283 `_) + * Add node_name_suffix to topic_state_monitor.launch (`#1157 `_) (`#370 `_) + * fix launch file (`#411 `_) + * add transient local option to topic state monitor (`#410 `_) * add transient local option to topic state monitor * sort parameters * sort parameter - * [topic_state_monitor]: Add best effort option (`#430 `_) + * [topic_state_monitor]: Add best effort option (`#430 `_) Co-authored-by: autoware - * add use_sim-time option (`#454 `_) - * Fix for rolling (`#1226 `_) + * add use_sim-time option (`#454 `_) + * Fix for rolling (`#1226 `_) * Replace doc by description * Replace ns by push-ros-namespace - * change to composable node (`#1233 `_) - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Fix lint errors (`#1378 `_) + * change to composable node (`#1233 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Fix lint errors (`#1378 `_) * Fix lint errors * Fix variable names - * Use integrated generic subscription (`#1342 `_) - * suppress warnings for declare parameters (`#1724 `_) + * Use integrated generic subscription (`#1342 `_) + * suppress warnings for declare parameters (`#1724 `_) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor @@ -120,14 +120,14 @@ Changelog for package topic_state_monitor * add Werror * add Werror * fix style - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -139,9 +139,9 @@ Changelog for package topic_state_monitor * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) - * [topic_state_monitor]add readme (`#565 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * [topic_state_monitor]add readme (`#565 `_) * add readme * Update system/topic_state_monitor/Readme.md Co-authored-by: Kazuki Miyahara diff --git a/system/velodyne_monitor/CHANGELOG.rst b/system/velodyne_monitor/CHANGELOG.rst index c5ad4d6604ec5..ca10466633e36 100644 --- a/system/velodyne_monitor/CHANGELOG.rst +++ b/system/velodyne_monitor/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package velodyne_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(velodyne_monitor): componentize node (`#7201 `_) +* feat(velodyne_monitor): componentize node (`#7201 `_) * Contributors: Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* refactor(system-velodyne-monitor): rework parameters (`#5667 `_) +* refactor(system-velodyne-monitor): rework parameters (`#5667 `_) system-velodyne-monitor -* docs(velodyne_monitor): rename readme to README (`#4224 `_) -* build: mark autoware_cmake as (`#3616 `_) +* docs(velodyne_monitor): rename readme to README (`#4224 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -21,14 +21,14 @@ Changelog for package velodyne_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(velodyne_monitor): add fmt package to dependencies (`#3069 `_) +* fix(velodyne_monitor): add fmt package to dependencies (`#3069 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* docs(velodyne_monitor): add known limits (`#1802 `_) +* docs(velodyne_monitor): add known limits (`#1802 `_) * docs(velodyne_monitor): add known limits * Update Readme.md -* fix(velodyne_monitor): add temp_hot\_*** to 20 (`#1744 `_) +* fix(velodyne_monitor): add temp_hot\_*** to 20 (`#1744 `_) fix(velodyne_monitor): add 20 to temp_hot\_*** -* fix(velodyne monitor): fix warning and error threshold of hot temperature (`#1623 `_) +* fix(velodyne monitor): fix warning and error threshold of hot temperature (`#1623 `_) * fix(velodyne_monitor): fix warning and error threshold of hot temperature * doc: update README * doc: fix typo @@ -37,41 +37,41 @@ Changelog for package velodyne_monitor * Update Readme.md * Update Readme.md * fix: typo -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add velodyne_monitor package (`#17 `_) - * Ros2 v0.8.0 velodyne monitor (`#285 `_) - * Rename ROS-related .yaml to .param.yaml (`#352 `_) +* feat: add velodyne_monitor package (`#17 `_) + * Ros2 v0.8.0 velodyne monitor (`#285 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * add use_sim-time option (`#454 `_) - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Add exception handling for extract_json() (`#1779 `_) + * add use_sim-time option (`#454 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Add exception handling for extract_json() (`#1779 `_) * Add exception handling for extract_json() * Add diagnostics error when catching exception Co-authored-by: Takayuki AKAMINE - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Fix compiler warnings (`#1837 `_) + * Fix compiler warnings (`#1837 `_) * Fix -Wunused-private-field * Fix -Wunused-variable * Fix -Wformat-security @@ -86,13 +86,13 @@ Changelog for package velodyne_monitor * Ignore -Wno-deprecated-declarations in CUDA-related packages * Fix mistake * Fix -Wunused-parameter - * Remove duplicated update (`#2072 `_) (`#2084 `_) + * Remove duplicated update (`#2072 `_) (`#2084 `_) Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * Fix velodyne monitor config file variable name (`#2090 `_) (`#2092 `_) + * Fix velodyne monitor config file variable name (`#2090 `_) (`#2092 `_) Co-authored-by: j4tfwm6z Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: j4tfwm6z - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -104,9 +104,9 @@ Changelog for package velodyne_monitor * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) - * [Velodyne monitor]add readme (`#570 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * [Velodyne monitor]add readme (`#570 `_) * add readme * change the description * Update system/velodyne_monitor/Readme.md diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst index 720b662630fa3..81084ba8724c4 100644 --- a/tools/reaction_analyzer/CHANGELOG.rst +++ b/tools/reaction_analyzer/CHANGELOG.rst @@ -5,30 +5,30 @@ Changelog for package reaction_analyzer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* docs(reaction_analyzer): update bag files and the README (`#8633 `_) +* docs(reaction_analyzer): update bag files and the README (`#8633 `_) * docs(reaction_analyzer): update bag files and the README -* fix(reaction_analyzer): fix include hierarchy of tf2_eigen (`#8663 `_) +* fix(reaction_analyzer): fix include hierarchy of tf2_eigen (`#8663 `_) Fixed include hierarchy of tf2_eigen -* fix(reaction_analyzer): fix variableScope (`#8450 `_) +* fix(reaction_analyzer): fix variableScope (`#8450 `_) * fix:variableScope * fix:clang format --------- -* fix(reaction_analyzer): fix constVariableReference (`#8063 `_) +* fix(reaction_analyzer): fix constVariableReference (`#8063 `_) * fix:constVariableReference * fix:constVariableReference * fix:constVariableReference * fix:suppression constVariableReference --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for tools (`#7250 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for tools (`#7250 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response (`#5954 `_) +* feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response (`#5954 `_) * feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response * feat: implement message_filters package, clean up * feat: update style and readme diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst index 6cc3ccca1d49a..1c025329b3417 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst +++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_accel_brake_map_calibrator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (`#8593 `_) +* feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (`#8593 `_) * fix: Conditional Actuation Data Processing Based on Source * style(pre-commit): autofix * delete extra comentout, indent @@ -13,20 +13,20 @@ Changelog for package autoware_accel_brake_map_calibrator * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autowre_accel_brake_map_calibrator): fix for flake-ros v0.9.0 (`#8529 `_) -* fix(autoware_accel_brake_map_calibrator): fix redundantInitialization (`#8230 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(autowre_accel_brake_map_calibrator): fix for flake-ros v0.9.0 (`#8529 `_) +* fix(autoware_accel_brake_map_calibrator): fix redundantInitialization (`#8230 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(accel_brake_map_calibrator): replace polling takeData function with the callback function (`#7429 `_) +* feat(accel_brake_map_calibrator): replace polling takeData function with the callback function (`#7429 `_) * fix : repush to solve conflict * style(pre-commit): autofix * delete duplicated int cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) * add prefix to the codes change dir name update diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst index 9621a46534b05..058678773d251 100644 --- a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package autoware_external_cmd_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_external_cmd_converter): add ext cmd converter tests (`#9118 `_) +* feat(autoware_external_cmd_converter): add ext cmd converter tests (`#9118 `_) * add ext cmd converter tests * add briefs to describe the tests * update tests and add nan and inf check --------- -* refactor(autoware_external_cmd_converter): add explanation about external control commands (`#8224 `_) +* refactor(autoware_external_cmd_converter): add explanation about external control commands (`#8224 `_) * refactor(autoware_external_cmd_converter): add explanation about external control commands * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Tomoya Kimura -* fix(autoware_external_cmd_converter): fix check_topic_state (`#7921 `_) +* fix(autoware_external_cmd_converter): fix check_topic_state (`#7921 `_) * fix(autoware_external_cmd_converter): fix check_topic_state * style(pre-commit): autofix * Update vehicle/autoware_external_cmd_converter/src/node.cpp @@ -26,10 +26,10 @@ Changelog for package autoware_external_cmd_converter Co-authored-by: shtokuda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) +* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) * add prefix to the code * rename * fix diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst index d13df1dd55306..483f8cbd12c60 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_raw_vehicle_cmd_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) +* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) swap row and column -* test(raw_vehicle_cmd_converter): add tests (`#8951 `_) +* test(raw_vehicle_cmd_converter): add tests (`#8951 `_) * remove header file according to clangd warning * add test * fix @@ -15,18 +15,18 @@ Changelog for package autoware_raw_vehicle_cmd_converter * apply clang tidy * fix test content --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) +* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) * align autoware_raw_vehicle_cmd_converter's parameter * align start_planner's parameter --------- -* fix(raw_vehicle_cmd_converter): fix convert_steer_cmd_method condition (`#8813 `_) -* fix(raw_vehicle_cmd_converter): fix null check (`#8677 `_) -* chore(raw_vehicle_cmd_converter): add maintainer (`#8671 `_) -* feat(raw_vehicle_cmd_converter): set convert_actuation_to_steering_status false by default (`#8668 `_) -* feat(raw_vehicle_cmd_converter): disable actuation to steering (`#8588 `_) -* feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (`#8504 `_) +* fix(raw_vehicle_cmd_converter): fix convert_steer_cmd_method condition (`#8813 `_) +* fix(raw_vehicle_cmd_converter): fix null check (`#8677 `_) +* chore(raw_vehicle_cmd_converter): add maintainer (`#8671 `_) +* feat(raw_vehicle_cmd_converter): set convert_actuation_to_steering_status false by default (`#8668 `_) +* feat(raw_vehicle_cmd_converter): disable actuation to steering (`#8588 `_) +* feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (`#8504 `_) * feat(raw_vehicle_cmd_converter): add steer command conversion with VGR * make class and add test * remove member vgr_coef from node @@ -39,17 +39,17 @@ Changelog for package autoware_raw_vehicle_cmd_converter * add comment for using normal sub for steering status --------- Co-authored-by: Takamasa Horibe -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(raw_vehicle_cmd_converter): use polling subscriber (`#7319 `_) +* feat(raw_vehicle_cmd_converter): use polling subscriber (`#7319 `_) * replace subscription * fix document * sum up functions * add maintainer --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) * add prefix to the codes change dir name update @@ -60,7 +60,7 @@ Changelog for package autoware_raw_vehicle_cmd_converter * restore * poi --------- -* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) +* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) * add prefix * fix other packages * fix cppcheck diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst index d8120eb5ad00d..9a421dc7a35bf 100644 --- a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst +++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_steer_offset_estimator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) +* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) * add autoware\_ prefix * use target_include_directories instead --------- Co-authored-by: SakodaShintaro -* fix(steer_offset_estimator): fix link to json schema in README (`#7655 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(steer_offset_estimator): fix link to json schema in README (`#7655 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -48,7 +48,7 @@ Changelog for package autoware_steer_offset_estimator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* chore(steer_offset_estimator): add prefix autoware\_ to steer_offset_estimator (`#7342 `_) +* chore(steer_offset_estimator): add prefix autoware\_ to steer_offset_estimator (`#7342 `_) * add perfix * fix directory structrue * fix include guard