fix(behavior_velocity): fix intersection last point #1283

taikitanaka3 · 2022-07-08T02:08:41Z

Signed-off-by: tanaka3 ttatcoder@outlook.jp

Description

fix intersection dies insert stop point at the end
because input path size and *path size is different

I confirmed normal case and intersection module won't die for inserting last stop index point
(Note: test case won't be enough but this won't happen for normal use)

cc: @VRichardJP

Tests performed

by psim

2022-07-08-15-58-14.mp4

Notes for reviewers

This PR has not been tested enough.

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Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

codecov · 2022-07-08T02:39:39Z

Codecov Report

Merging #1283 (929dd80) into main (2053705) will increase coverage by 0.22%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1283      +/-   ##
========================================
+ Coverage   9.45%   9.68%   +0.22%     
========================================
  Files       1087    1076      -11     
  Lines      69225   74454    +5229     
  Branches   15888   16553     +665     
========================================
+ Hits        6548    7209     +661     
- Misses     56604   60643    +4039     
- Partials    6073    6602     +529

Flag	Coverage Δ		*Carryforward flag
differential	`4.97% <0.00%> (?)`
total	`9.68% <0.00%> (+0.22%)`	⬆️	Carriedforward from 1c253d1

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

Impacted Files	Coverage Δ
...c/scene_module/intersection/scene_intersection.cpp	`0.00% <0.00%> (ø)`
...lude/freespace_planning_algorithms/reeds_shepp.hpp	`50.00% <0.00%> (-50.00%)`	⬇️
.../src/vehicle/test_vehicle_state_checker_helper.hpp	`70.58% <0.00%> (-9.42%)`	⬇️
planning/behavior_path_planner/test/input.cpp	`60.00% <0.00%> (-7.86%)`	⬇️
...tier4_autoware_utils/trajectory/tmp_conversion.hpp	`60.00% <0.00%> (-6.67%)`	⬇️
...oware_auto_geometry/include/geometry/common_2d.hpp	`82.66% <0.00%> (-5.91%)`	⬇️
...nning/behavior_velocity_planner/test/src/utils.hpp	`82.22% <0.00%> (-5.59%)`	⬇️
...or/test/src/test_planning_error_monitor_helper.hpp	`45.45% <0.00%> (-4.55%)`	⬇️
...ning/behavior_path_planner/test/test_utilities.cpp	`33.33% <0.00%> (-4.17%)`	⬇️
...tion/include/interpolation/interpolation_utils.hpp	`54.83% <0.00%> (-3.79%)`	⬇️
... and 727 more

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soblin · 2022-07-08T08:51:57Z

Confirmed.
It looks like the size of *path changes after generateStopLine function (which calls insertPoint up to 2 times) so accessing [stop_line_idx] of outdated input_path is not valid as you have pointed out.

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

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Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

…on#1283) Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

…node and timeout (autowarefoundation#1283) * fix: add offset time for ground_segmentation concat Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: fix ground_segmentation launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: ground_seg concat node Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: CI check Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

fix(behavior_velocity): fix intersection last point

929dd80

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

taikitanaka3 requested review from tkimura4 and rej55 July 8, 2022 02:08

taikitanaka3 requested review from soblin and 1222-takeshi July 8, 2022 07:01

taikitanaka3 marked this pull request as ready for review July 8, 2022 07:02

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taikitanaka3 marked this pull request as ready for review July 8, 2022 07:57

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soblin merged commit 51a596e into autowarefoundation:main Jul 8, 2022

taikitanaka3 deleted the fix/intersection_segmentation_fault branch July 8, 2022 09:14

esteve pushed a commit that referenced this pull request Jul 8, 2022

fix(behavior_velocity): fix intersection last point (#1283)

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Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

taikitanaka3 mentioned this pull request Jul 11, 2022

bug fix for planner #1297

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mitsudome-r mentioned this pull request Jul 12, 2022

behavior_velocity_planner sometimes crashes before intersection #1247

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boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022

fix(behavior_velocity): fix intersection last point (tier4#1283)

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Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022

fix(behavior_velocity): fix intersection last point (tier4#1283)

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Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022

fix(behavior_velocity): fix intersection last point (tier4#1283)

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Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

yukke42 pushed a commit to tzhong518/autoware.universe that referenced this pull request Oct 14, 2022

fix(behavior_velocity): fix intersection last point (autowarefoundati…

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…on#1283) Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022

fix(behavior_velocity): fix intersection last point (tier4#1283)

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fix(behavior_velocity): fix intersection last point #1283

fix(behavior_velocity): fix intersection last point #1283

taikitanaka3 commented Jul 8, 2022 •

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codecov bot commented Jul 8, 2022 •

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soblin commented Jul 8, 2022

fix(behavior_velocity): fix intersection last point #1283

fix(behavior_velocity): fix intersection last point #1283

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taikitanaka3 commented Jul 8, 2022 • edited Loading

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soblin commented Jul 8, 2022

taikitanaka3 commented Jul 8, 2022 •

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codecov bot commented Jul 8, 2022 •

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