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fix(behavior_velocity): don't insert a stop point ahead of the goal #1220

Merged
merged 2 commits into from
Jul 4, 2022
Merged

fix(behavior_velocity): don't insert a stop point ahead of the goal #1220

merged 2 commits into from
Jul 4, 2022

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TomohitoAndo
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@TomohitoAndo TomohitoAndo commented Jul 4, 2022 •
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Signed-off-by: Tomohito Ando tomohito.ando@tier4.jp

Description

Fixed the case that run_out module inserted the stop point after the goal, and the index of the path was incorrect.
I confirmed these scenarios are successful.

  • UC-F-10-00002-001
  • UC-F-11-00004-001

before

This bug caused the strange optimized path.

simplescreenrecorder-2022-07-04_07.29.00.mp4

after

The bug mentioned above doesn't happen. (The ego vehicle stops because I used the rosbag that the bug happened.)

simplescreenrecorder-2022-07-04_07.32.07.mp4

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@TomohitoAndo
fix(behavior_velocity): don't insert a stop point ahead of the goal
6297302 
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
@TomohitoAndo
add condition for the end of the path
0c3c84a 
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
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codecov bot commented Jul 4, 2022 •
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Codecov Report

Merging #1220 (0c3c84a) into main (4b3ca87) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1220      +/-   ##
========================================
- Coverage   9.55%   9.55%   -0.01%     
========================================
  Files       1049    1049              
  Lines      72126   72181      +55     
  Branches   15608   15643      +35     
========================================
  Hits        6895    6895              
- Misses     58970   59025      +55     
  Partials    6261    6261
Flag Coverage Δ *Carryforward flag
differential 5.08% <0.00%> (?)
total 9.54% <0.00%> (ø) Carriedforward from 6297302

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

Impacted Files Coverage Δ
...elocity_planner/src/scene_module/run_out/scene.cpp 0.00% <0.00%> (ø)
...an_based_occupancy_grid_map/occupancy_grid_map.cpp 0.00% <0.00%> (ø)
...ud_based_occupancy_grid_map/occupancy_grid_map.cpp 0.00% <0.00%> (ø)

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@TomohitoAndo TomohitoAndo requested a review from 0x126 July 4, 2022 01:11
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0x126 approved these changes Jul 4, 2022
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LGTM

@TomohitoAndo TomohitoAndo enabled auto-merge (squash) July 4, 2022 01:18
@TomohitoAndo TomohitoAndo merged commit 1ef704b into autowarefoundation:main Jul 4, 2022
@TomohitoAndo TomohitoAndo deleted the fix/stop-point-ahead-of-goal branch July 4, 2022 01:53
TomohitoAndo referenced this pull request in tier4/autoware.universe Jul 4, 2022
@TomohitoAndo
fix(behavior_velocity): don't insert a stop point ahead of the goal (#…
3621ee7 
…1220)

* fix(behavior_velocity): don't insert a stop point ahead of the goal

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* add condition for the end of the path

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
@TomohitoAndo TomohitoAndo mentioned this pull request Jul 4, 2022
Merged
4 tasks
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jul 5, 2022
Merged
miursh pushed a commit to miursh/autoware.universe that referenced this pull request Jul 12, 2022
@tkimura4 @mitsudome-r
@kenji-miyake @nnmm @jilaada @wep21 @ito-san @kmiya @s-murakami-esol @h-ohta @TakaHoribe @KeisukeShima @taikitanaka3 @isamu-takagi @1222-takeshi
feat: add autoware_error_monitor package (autowarefoundation#10)
374c896 
* release v0.4.0

* Change localization diag namespace (autowarefoundation#718)

* Change default value of output_diagnostics_topic

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove localization_diagnostic.js from web_controller

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Integrate localization diag to diagnostic_aggregator

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Delete old and unused publisher

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "remove ROS1 packages temporarily"

This reverts commit 63dc7f4e1defe5fd908eeefc7a2cdfac7cb47022.

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

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

* ROS2 Porting: autoware_error_monitor (autowarefoundation#42)

* Temporary add the autoware_error_monitor package for conversion

* Renaming to adhere to convention
 - Modify CMakeList to compile using ROS2
 - TODO: fix FMT import

* Replace node implementation with ROS2 version
 - Rename core
 - Fix FMT library linking and ROS-related compilation erros
 - Add Readme
 - Add publisher and subscribers
 - Add timer

* Launch configurationse
 - Add ROS2 launch file
 - Modify config file with ROS2 conventions
 - Convert package.xml
 - Fix CMakelist
 - Bug fixes
   - Launch file correct indentation
   - Fix param.yaml to not use nested lists
   - Use as_string_array() when getting string array parameters

* Remove old files

* Fix cmake and package xml
 - Use ament cmake auto

* Fix parameters
 - Use dots as delimiters for nested parameter names
 - Move parameter declaration to constructor initialization list where possible
 - Update parameter file
 - Update launch files

* Fix launch and param files
 - Aggregator node doesn't appear to be working as expected with the launch files...
 - Fix cmake
 - Aggregator doesn't seem to allow multiple top level diagnostics

* Fix config

* Add rqt_robot_monitor to exec depends in package.xml

* Update rate should be converted to a period

Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>

* Address PR comment:
 - Change top level namespace to autoware

* Remove commented out code

* Address PR comment:
 - Fix root for keys
 - Correct update rate

Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>

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

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

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

* Add linter tests (autowarefoundation#204)

* Ros2 v0.8.0 autoware error monitor (autowarefoundation#281)

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

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

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove prefix 'default_' of yaml files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename vehicle_info.yaml to vehicle_info.param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename diagnostic_aggregator's param files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix overlooked parameters

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ros2 v0.8.0 fix packages2 (autowarefoundation#354)

* fix topic name

* fix duration rate

* fix sensing.yaml

* fix topic name

* add latch-option to autoware_state_monitor

* fix timer callback

* fix autoware state monitor config

* fix sensing.yaml

* Fix autoware error monitor (autowarefoundation#362)

* Remove cpu_load_average

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Disable resource monitoring in planning_simulator

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix diagnostic_aggregator's params

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* [Update v0.9.0] system monitor (autowarefoundation#365)

* Disable CPU Load Average warning. (autowarefoundation#1147)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Fix cpu_monitor respawning forever. (autowarefoundation#1150)

* Disable cpu_temperature in planning simulation (autowarefoundation#1151)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Net Monitor: Handle as an error if specified device not exist. (autowarefoundation#1152)

* Handled as an error if specified device not exist.

* Disable network diags in simulation

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* apply ament_uncrustify

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Disable resource monitoring in planning_simulator (autowarefoundation#1172)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Treat logging errors as safe faults (autowarefoundation#1164)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix test code of system_monitor (autowarefoundation#1178)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Import v0.9.1 (autowarefoundation#431)

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

* Add obstacle_crush diagnostic (autowarefoundation#1186)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix diagnostics api (autowarefoundation#1185)

* Fix diagnostics api

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Don't overwrite level

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Overwrite level of No Fault diagnostics

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

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

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Filter hazard_status (autowarefoundation#1191)

* Filter hazard_status

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Filter leaf diagnostics

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

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

* Fixed wrong calculation of available memory.

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

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

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

* Fixed test codes.

* Removed unnecessary (void) parameter.

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

* fix yaw-smoothing bug (autowarefoundation#1198)

* Fix lint

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* Fix typo in system module (autowarefoundation#434)

* Fix typo in system module

* Change variable name

* Move comments

* Apply uncrustify

* add use_sim-time option (autowarefoundation#454)

* Treat NTP offset error as safe fault (autowarefoundation#1220)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for rolling (autowarefoundation#1226)

* Replace doc by description

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Replace ns by push-ros-namespace

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix/fix porting miss (autowarefoundation#1254)

* Fix porting miss of vehicle_cmd_gate

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix mistake of autoware_error_monitor.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* error monitor for foa controller (autowarefoundation#1369)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add diagnostics config for ros2_socketcan (autowarefoundation#1447)

* Add markdownlint and prettier (autowarefoundation#1661)

* Add markdownlint and prettier

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore .param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix typo (autowarefoundation#1711)

* suppress warnings for declare parameters (autowarefoundation#1724)

* fix for lanelet2_extension

* fix for traffic light ssd fine detector

* fix for topic_state_monitor

* fix for dummy diag publisher

* fix for remote cmd converter

* fix for vehicle_info_util

* fix for multi object tracker

* fix for freespace planner

* fix for autoware_error_monitor

* add Werror for multi object tracker

* fix for multi object tracker

* add Werror for liraffic light ssd fine detector

* add Werror for topic state monitor

* add Werror

* add Werror

* add Werror

* add Werror

* fix style

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix mistake

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>

* enable autonomous recovery (autowarefoundation#1904)

* add aggregator config at planing error monitor (autowarefoundation#1955) (autowarefoundation#1963)

* add trajectory monitoring setting (autowarefoundation#2018)

* Fix typo `obstacle_crush` to `obstacle_crash` (autowarefoundation#2031)

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

* Use EmergencyState instead of deprecated EmergencyMode

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Use stamped type

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

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

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

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

* update version for bug-fix

* apply pre-commit

* Sync rc v1.5.0 (autowarefoundation#2058)

* Cleanup autoware_error_monitor launch (autowarefoundation#2143)

* Improve diagnostic tree for future extensions (autowarefoundation#2153)

* change resource monitoring group

* implement diagnostic tree proposal

* rename v2x param file

* add v2x to launch

* add dummy analyzer to avoid format error

* modify external control

* rename vehicle_ecu_errors

* fixup

* remove num_items

* fix error

* add heartbeat to external command selector

* Restore sensing/node_alive_monitoring

* Update system/autoware_error_monitor/config/diagnostic_aggregator/sensing.param.yaml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* add sensor_kit arg for diagnostic_agg

* change sensor_kit's default value

* add _ prefix to hide parameter file

* delete dummy parameter

* change to use update_functions

* add extra_agg_config_file_vehicle

* change initializer

* remove line

* Update system/autoware_error_monitor/config/diagnostic_aggregator/system.param.yaml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* change hearbeat diag

* add clock group

* update sensing diag

* Remove discard and v2x

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix heartbeat name

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add remote_external_control

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add external_control

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename remote_control to external_control

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename command_gate to control_command_gate

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Simplify resource monitoring

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove sensing from autoware_error_monitor.param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove trajectory_deviation

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove vehicle specific settings

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add blank lines

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore matching_score error

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove debug_data_logger

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add trajectory_validation

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Specify children for performance_monitoring

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Comment out route_validation

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Revert "Remove trajectory_deviation"

This reverts commit 199132f1a6c7083440f0ef9a956b0663d45f4531.

* Remove control_command_topic_status

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Disable some diagnostics for planning simulator

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add TODO comment

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Enable /autoware/vehicle/node_alive_monitoring in planning simulator

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Change autoware_error_monitor config format (autowarefoundation#2244)

* Change autoware_error_monitor config file

use automatically_declare_parameters_from_overrides

Change yaml format

replace default value

move nodeoption to core

simplify parameter splitting code

use set

fix to use at function

merge for loop

add explanation for new format

fix default value

replace DiagLevel

Update system/autoware_error_monitor/src/autoware_error_monitor_core.cpp

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

Update system/autoware_error_monitor/src/autoware_error_monitor_core.cpp

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

use fmt

change to use uniform initialization

* Change autoware_error_monitor config file

* Fix format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

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

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply Black

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* support .auto message (autowarefoundation#529)

* remove VehicleStateReport/VehicleStateCommand/VehicleControlCommand (autowarefoundation#549)

* fix autoware_error_monitor

* fix state monitor

* fix emergency handler(vehicle_state_report)

* fix emergency Handler(vehicle_state_command)

* fix shift_decider

* fix emergency_handler(vehicle_control_command)

* fix topic name

* fix readme

* Update system/autoware_state_monitor/Readme.md

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* fix format

* Update system/autoware_state_monitor/launch/autoware_state_monitor.launch.xml

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* fix typo

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* Fix autoware monitors readme (autowarefoundation#629)

* Fix readme of autoware_state_monitor

* Fix readme of autoware_error_monitor

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Nikolai Morin <nnmmgit@gmail.com>
Co-authored-by: Jilada Eccleston <jilada.eccleston@gmail.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: s-murakami-esol <81723883+s-murakami-esol@users.noreply.github.com>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@TomohitoAndo @boyali
fix(behavior_velocity): don't insert a stop point ahead of the goal (t…
2a34e9e 
…ier4#1220)

* fix(behavior_velocity): don't insert a stop point ahead of the goal

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* add condition for the end of the path

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@TomohitoAndo @boyali
fix(behavior_velocity): don't insert a stop point ahead of the goal (t…
d55faab 
…ier4#1220)

* fix(behavior_velocity): don't insert a stop point ahead of the goal

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* add condition for the end of the path

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@TomohitoAndo @boyali
fix(behavior_velocity): don't insert a stop point ahead of the goal (t…
058085b 
…ier4#1220)

* fix(behavior_velocity): don't insert a stop point ahead of the goal

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* add condition for the end of the path

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
yukke42 pushed a commit to tzhong518/autoware.universe that referenced this pull request Oct 14, 2022
@TomohitoAndo
fix(behavior_velocity): don't insert a stop point ahead of the goal (a…
7d2c91c 
…utowarefoundation#1220)

* fix(behavior_velocity): don't insert a stop point ahead of the goal

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* add condition for the end of the path

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@TomohitoAndo @boyali
fix(behavior_velocity): don't insert a stop point ahead of the goal (t…
0302c8a 
…ier4#1220)

* fix(behavior_velocity): don't insert a stop point ahead of the goal

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* add condition for the end of the path

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
saka1-s pushed a commit to saka1-s/autoware.universe that referenced this pull request Apr 8, 2024
@danielsanchezaran @kyoichi-sugahara
feat(lane departure check,start planner): update lane departure check…
afb0f60 
… (cherry pick 8bdb542 and 0042c20) (autowarefoundation#1220)

* feat(lane_departure_checker,start_planner): add check for path within lanes for bvspm (autowarefoundation#6366)

* WIP add new methods for lane departure checker

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add lanelet polygon check for lane departure

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* use new checkPathWillLeaveLane function

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* working solution, fix union bug

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* Add check fo backwards path

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* delete departure check lanes

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add lane departure check to geometric pullout

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* merge all union polygon

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* pre-commit changes

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* move the cheap/fast check first to possibly boost performance

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* declare missing function

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix(lane_departure_checker): empty lanelet polygon (autowarefoundation#6588)

* fix union sometimes returning empty polygon

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix union of polygons

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix back launcher

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* cherry pick 8bdb542 and 0042c20 from universe

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* remove unused methods

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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@TomohitoAndo @0x126