fix(lidar_centerpoint): fix function sigmoid() #1545 #1549
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Aug 17, 2022
* release v0.4.0
* Fix typo (#700)
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix detection area (#701)
* Replace calcDistance with calcSignedDistance
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Add STOP state
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* intersection: change detection area length parameter from 100m to 200m (#702)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* intersection: fix stuck vehicle behavior (#695)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Feature/intersection use spline interpolation library (#710)
* Use spline_interpolation module
* Remove debug messages
* Feature/stop reason (#712)
* add stop reason msg
* add mock of stop resaon publisher
* change namespace of stop reason
* update stop reason msg
* add toRosPoint
* implement stop reason publisher of blind stop
* implement stop reason publisher of crosswalk
* implement stop reason publisher of intersection
* implement stop reason publisher of stop line
* implement stop reason publisher of trafficlight
* implement stop reason publisher of detection area
* fix bug
* remove unnecessary process
* add remained stop factor
* clean code
* fix bug
* not punlish stop reason if array size is 0
* add stop reason to stuck object in intersection
* add stop factor of obstacle stop planner
* add stop reason of surround_obstacle checker
* Apply review
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* fix message type
* delete unused message from cmake
* remove stopReasonStamped
* change topic name of stop reasons
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix/stop reason (#724)
* input stop reason of traffic light
* add comment
* add empty traffic light handling
* change calculation method of traffic light position
* avoid 0 position output
* Fix/spline interpolation in intersection module (#726)
* Remove duplicating sample points
* Change isValidInput
* Apply clang-format
* Fix convergence check in PCG
* fix clac signed distance bug (#733)
* intersection: ignore stop plane when path[0] is in detection area (#739)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Publish tl states stamped (#744)
* Add TrafficLightStateStamped.msg
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Use msg instead of struct
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Publish traffic light state
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Check if lamp state is empty
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Apply clang-format
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Cosmetic change
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* update visualization marker (#759)
* fix stack area (#758)
* dont check pointcloud (#765)
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* fix stop factor of merge_from_private_area (#749)
* Revert "Publish tl states stamped (#744)" (#771)
This reverts commit 35a7e29e987afb29d9348b5f64866a584a65f753.
* fix intersection bug (#773)
* fix bug
* fix bug
* change uid of marker (#775)
* Fix/publish tl state stamped (#772)
* Publish tl states stamped (#744)
* Add TrafficLightStateStamped.msg
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Use msg instead of struct
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Publish traffic light state
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Check if lamp state is empty
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Apply clang-format
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Cosmetic change
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Use dynamic pointer cast
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Fix blind spot areas and logic for creating a stop line (#732)
* Fix blind spot areas
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Change logic for creating a stop line
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Do not add marker when marker is empty
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Cosmetic change
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Return boost optional for first conflict point
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Return boost optional for intersection start point
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Apply clang
Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Fix/intersection stuck detect area (#764)
* fix stuck-vehicle detection area in intersection module
* separate vehicle param
* change the way ouf start idx count
* change param
* avoid to input -1 index (#777)
* add dead line and pass through when over dead line (#784)
* Add arg for input tl topic name (#783)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* change margin to 1.0m (#790)
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* fix insert target point bug (#798)
* fix typo stop_liine to stop_line (#799)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* traffic light scene module : fix bug and change param (#800)
* fix bug (passs judge line)
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* bug fix
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* change param
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* Intersection add debug comment (#803)
* blind spot : modify debug comment
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* merge from private road : modify debug comment
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* intersection : modify debug comment
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* intersection util: modify generateStopLine() for debug
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* add comment
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Fix intersection preceeding lane query (#807)
* modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences()
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* update comment
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* Fix blind spot area (#806)
* Fix blind spot area
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Use range based for
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Use std::unique to remove adjacent duplicates
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Use generateFineCenterline
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix detection area start point
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Revert "Use generateFineCenterline"
This reverts commit 9d4f46bf65d7296b9286b30dfeed217a566a815c.
* Fix centerline of half lanelet
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix area start point
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Revert "fix insert target point bug (#798)" (#815)
This reverts commit 12eac2023538531e28a85a8914305cb534499f29.
* Fix/traffic light state (#801)
* fix bug (passs judge line)
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* bug fix
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* change param
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* bug fix : remove stop state
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* add lower limit
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* change param (#821)
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* stopline: parametrize check distance (#825)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Check if lanelets are sequential (#823)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* fix uninitialized variables (#816)
* Parameterization for calculating judge line distance (#831)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* remove ROS1 packages temporarily
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* Revert "remove ROS1 packages temporarily"
This reverts commit 96b63e981899f79f2f5c6a6377e9600cc278e233.
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 (#28)
* Port behavior_velocity_planner to ROS2 (#80)
* Revert "Add geometry2 to repos (#76)"
This reverts commit 6d2270476aaafdf1a8098d700d52a508525ea04b.
* Automatic parts of the package port
* Interesting part
* Fix typo in package.xml
* Review comments
* Child logger names
* Document logging duration
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
* [ROS2] Fix behavior velocity planner (#110)
* install launch and config folders
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* port launch file
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* fix config files
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* improve vehicle_info_utils to enable multiple declaration of VehicleInfo objects
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* fix sementation fault
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* Convert calls of Duration to Duration::from_seconds where appropriate (#131)
* 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)
* 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
* Exclude open PRs
* fixing trasient_local in ROS2 packages (#160)
* Enable cppcheck lints in behavior_velocity_planner (#159)
* Enable lints in behavior_velocity_planner
* Fix package.xml
* Make launch files load vehicle model params dependent on argument (#228)
* Make vehicle_model configurable in behavior_velocity_planner
* Make vehicle_model configurable in vehicle_cmd_gate
* change from vehicle_model to vehicle_param_file (#242)
Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>
* Ros2 v0.8 fix typo of "preceding" (#323)
* Fix typo of getPrecedingLaneletSequences
* Fix comment
* Ros2 v0.8.0 behavior velocity planner (#332)
* restore behavior velocity planner files for v0.8.0 update
* Fix detection area (#808)
* Remove PASS state
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Keep stopping after going over dead-line in STOP state
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Clear state after obstacle disappears
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Parameterize and change conditions
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Refactor
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* add elapsed time checker
* Refactor
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Ignore inserting point if points are too close
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Rename NORMAL to GO
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Revert "Ignore inserting point if points are too close"
This reverts commit 91c8d620ea11e703611945cb9a50877d175f4ff6.
* Fix small bug
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: taichiH <azumade.30@gmail.com>
* fix timing of publish stop reason of stop_line (#845)
* fix timing of publish stop reason of stop_line
* Fix formatting
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix task registration of detection area module (#856)
* Fix task registration of detection area module
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix id of factor_text marker
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Do not interpolate if path size is 1 (#865)
* Revert "restore behavior velocity planner files for v0.8.0 update"
This reverts commit ce07d3c2bfae562d56fec46c4f81d5351fd936a1.
* fix some implement miss
* restore behavior velocity planner files for v0.8.0 update
* change intersection param (#861)
* Fix/intersection stop line (#841)
* add trimmed path function
* fix typo
* avoid to insert stop line outside intersection
* Add pass judge flag (#872)
* Add pass judge flag
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix wrong format
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix flag order in judge condition
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* add ignore width with blind spot (#864)
* add ignore width with blind spot
* remove unused function
* fix typo
* fix margin
* remove bicycle from intersection stuck vehicle (#896)
* Revert "restore behavior velocity planner files for v0.8.0 update"
This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9.
* fix implement miss
* restore behavior velocity planner files for v0.8.0 update (fixed)
* Add external traffic light input (#912)
* Add external traffic light input
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Update topic namespace
* Fix typos in planning modules (#866)
* fix typos in planning
* fix corresponding typos in planning
* revert fixed typos temporarily due to its impact on launchers
* add exception handling to intersection module (#920)
* add exception handling
* output input path
* prevent passthrough chattering (#901)
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* cosnider current_velocity to calculate intersection passing time (#880)
* cosnider current_velocity to calculate intersection passing time
* add fabs to current velocity
* Improve stuck vehicle detect (#824)
* intersection: modify stuck vehicle detect logic to consider the object shape
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* intersection: consider ego-vehicle length when calculate stuck vehicle detection area
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* intersection: change param stuck_vehicle_ignore_dist: 5.0 -> 7.0
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* intersection: use vehicle_info/vehicle_length
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* fix implement miss
* fix target pedestrian (#927)
Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
* fix insert backward point (#953)
* fix insert backward point
* add comment
Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
* remove unnecessary if
Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
* Add stop line referred from road marking (#968)
* Add stop line referred from road marking
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Add stop line for walkway
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Feature/external input (#982)
* add external input msg
* impl external input(crosswalk, intersection)
* :put_litter_in_its_place:
* change to ++14
* fix bug
* fix bug
* cosmetic change
* Revert "restore behavior velocity planner files for v0.8.0 update"
This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9.
* Fix typo (#1013)
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix/blind spot insert point (#1027)
* Copy insert point from previous point
* Reset path unless state is stop
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* change slow down speed (#1030)
* restore behavior velocity planner files for v0.8.0 update (fixed)
* Fix/walkway stop judge range (#1028)
* Fix walkway stop judge
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Make refer id same
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* fix getObjectivePolygons() so that intersecting lanelet is added to objective lanelets even when there is no preceeding lanelets (#1010)
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"
This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.
* fix implement miss for marker
* restore behavior velocity planner files for v0.8.0 update (fixed)
* Fix/blind spot polygon (#1056)
* Fix detection area for blind spot
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Apply clang format
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Shrink conflicting area
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* chane slowdown judgement (#1066)
* chane slowdown judgement
* cosmetic change
* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"
This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.
* fixed for ros2 style
* restore behavior velocity planner files for v0.8.0 update (fixed)
* Remove unused headers in behavior_velocity_planner (#1072)
* publish walkway stop reason (#1073)
* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"
This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.
* restore behavior velocity planner files for v0.8.0 update (fixed)
* Add correspondence marker of detection_area and stop_line (#1081)
* Fix comment
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Add const
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Add correspondence marker of detection_area and stop_line
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Add obstacle marker
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fixup
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Add id marker
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Clear state when time rollback found
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix typo
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* change stop to polygon line
* apply clang format
* fix code
* fix bug
Co-authored-by: taichiH <azumade.30@gmail.com>
* Fix pass judge idx (#1090)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* fix bug (#1087)
* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"
This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.
* fix for ros2 style
* restore behavior velocity planner files for v0.8.0 update (fixed)
* Fix/remove duplicated point (#1107)
* Split PoseDeviaiton functions
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Remove unnecessary pose
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Don't insert point if duplicated point exists
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix condition of duplicated points
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* seperate stop distance param (#1137)
* seperate stop distance param
Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
* apply param for automotically generated stop line
Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
* shift slow down line
Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
* add param in yaml file
Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
* fix prediction_time_margin bug (#1148)
* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"
This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.
* fix ros2 style
* remove deprecated
* reformat
* add test temporary launch
* cpp_lint_namespace_what_you_use
* lint_comment_line_length
* pass ament cpplint
* fixe commit
* fix code
* remove unneccesary
* fix param structure
* fix missng params
* fix throttle time
Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: taichiH <azumade.30@gmail.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
* Rename ROS-related .yaml to .param.yaml (#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>
* [behavior_velocity_planner]: Fix missing ros2 porting (#392)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix error handling of tf lookupTransform (#405)
Co-authored-by: autoware <autoware@example.com>
* rm_std_msgs (#402)
* Sensor data qos (#407)
* Use sensor data qos for pointcloud preprocessor
Signed-off-by: Autoware <autoware@tier4.jp>
* Use sensor data qos for pointcloud
Signed-off-by: Autoware <autoware@tier4.jp>
* Fix lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Use sensor data qos for livox tag filter and vector map filter
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Autoware <autoware@tier4.jp>
* Ros2 fix topic name part1 (#408)
* Fix topic name of lane_departure_checker debug
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of mpc_follower debug
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of velocity_controller debug
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of motion_velocity_optimizer debug
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of lane_change_planner debug
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of behavior_velocity_planner debug
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of obstacle_avoidance_planner debug
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of behavior_velocity_planner
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of motion_velocity_optimizer
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of lane_departure_checker
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of mpc_follower
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of behavior_velocity_planner
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of velocity_controller
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of lane_change_planner
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of obstacle_avoidance_planner
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of obstacle_stop_planner
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of costmap_generator
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of freespace_planner
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of surround_obstacle_checker
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of costmap_generator
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of emergency_handler
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix lint errors
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix typo
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix typo in planning module (#432)
* Fix typo in planning module
* Fix remaining errors
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Apply cpplint and uncrustify.
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
* fix traffic light module (#458)
* change log type (#459)
* add use_sim-time option (#454)
* Fix rolling build errors (#1225)
* Add missing include files
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Replace rclcpp::Duration
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Use reference for exceptions
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Use from_seconds
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Sync public repo (#1228)
* [simple_planning_simulator] add readme (#424)
* add readme of simple_planning_simulator
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Update simulator/simple_planning_simulator/README.md
* set transit_margin_time to intersect. planner (#460)
* Fix pose2twist (#462)
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Ros2 vehicle info param server (#447)
* add vehicle_info_param_server
* update vehicle info
* apply format
* fix bug
* skip unnecessary search
* delete vehicle param file
* fix bug
* Ros2 fix topic name part2 (#425)
* Fix topic name of traffic_light_classifier
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of traffic_light_visualization
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of traffic_light_ssd_fine_detector
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix topic name of traffic_light_map_based_detector
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix lint traffic_light_recognition
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix lint traffic_light_ssd_fine_detector
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix lint traffic_light_classifier
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix lint traffic_light_classifier
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Fix lint traffic_light_ssd_fine_detector
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* 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)
* Moved painiting in SteeringAngle plugin to update()
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* super class now back to MFD
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* uncrustified
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* acquire data in mutex
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* back to RTD as superclass
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* Rviz overlay render in update (#465)
* Moved painiting in SteeringAngle plugin to update()
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* super class now back to MFD
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* uncrustified
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* acquire data in mutex
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* removed unnecessary includes and some dead code
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
* restored RTD superclass
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com>
Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai>
* Unify Apache-2.0 license name (#1242)
* Make planning modules components (#1263)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Remove use_sim_time for set_parameter (#1260)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Refactor vehicle info util (#1305)
* Update license
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Refactor vehicle_info_util
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Rename and split files
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix interfaces
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix bug and add error handling
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Add "// namespace"
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Add missing include
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* fix slow/stop marker color & stop reason (#1347) (#1354)
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
* fix intersection stop line (#1272) (#1349)
* fix intersection stop line (#1272)
* fix intersection stop line
* fix comment
* Fix typo
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* Avoid passing empty lanelets to getPolygonFromArcLength (#1371)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Add perception traffic light state output (#1302)
* Add perception traffic light state output
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Modify message type
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Apply message type to relay
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* Feature/consider jerk limit in passjudge (#1339) (#1351)
* Feature/consider jerk limit in passjudge (#1339)
* make new branch for behavior velocity planner
* update implementation for considering accel & jerk limit
* refactoring
* change default params
* change default params
* change minimum velocity which decides to conduct pass judge
* remove ROS_DEBUG_COND()
* remove unnecessary variables
* fix lowpass filter implementation
* calc acceleration in planner_data_
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
* Fix typo
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
* Feature/refactor stop line module (#1343) (#1359)
* Refactor stop_line planner module
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Add document
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix English
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
* Feature/add stop duration ros2 (#1380)
* Feature/add stop duration (#1367)
* Add stop_duration to behavior_velocity_planner
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* parameterize stop duration sec
* Use stop_duration in Stop Line module
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Change default value
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix topic name of external traffic light input (#1412)
* publish perception and external tl_state for mlops (#1350) (#1375)
* publish perception and external tl_state for mlops
* fix tl_state time stamp
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
* Fix/traffic light planning module (#1424) (#1487)
* Fix/traffic light planning module (#1424)
* bug fix
* refactor
* refactor
* cosmetic change
* fix typo
* cosmetic change
* refactor
* remove unused func
* enable restart
* cosmetic change
* fix typo
* refactor
* bug fix
* cosmetic change
* modify debug_data
* Apply lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Remove unnecesarry comment
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix bug
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
* change msg type looking traffic light state (#1494)
* change msg type looking traffic light state (#1455)
* change msg type looking traffic light state
* fix msg name
* using namespace
* change function name
* fix typo
* add readme
* Update awapi/awapi_awiv_adapter/Readme.md
fix typo
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
* Remove deprecated message include
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
* Add namespace to behavior_velocity_planner (#1542)
* Add namespace to behavior_velocity_planner
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix typo
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Avoid passing uninitialized index (#1609)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* suppress warnings for behavior_velocity_planner (#1733)
* add Werror
* suppress warnings for stopline module
* fix for crosswalk
* fix for traffic light
* fix for detection area
* fix style
* use {}
* use auto
* Fix -Wunused-parameter (#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>
* Fix compiler warnings (#1837)
* Fix -Wunused-private-field
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix -Wunused-variable
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix -Wformat-security
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix -Winvalid-constexpr
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix -Wdelete-non-abstract-non-virtual-dtor
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix -Wdelete-abstract-non-virtual-dtor
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix -Winconsistent-missing-override
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix -Wrange-loop-construct
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix "invalid application of 'sizeof' to an incomplete type"
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Ignore -Wgnu-anonymous-struct and -Wnested-anon-types
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix lint
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Ignore -Wno-deprecated-declarations in CUDA-related packages
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix mistake
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix -Wunused-parameter
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Add autoware api (#1979)
* Feature/add virtual traffic light planner (#1588)
* add sort-package-xml hook in pre-commit (#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
* remove spline_interpolation, and create interpolation package that ha… (#2114)
* remove spline_interpolation and add interpolation package
* fix bugs and add simple test
* modify application for interpolation package
* add some tests and fix ci test
* add some tests
* add -Werror
* move functions to anonymous
* fix reviews
* fix typo
* fix review and lint
* add tests
* resolve TODOs
* add README.md
* Update common/math/interpolation/test/src/test_interpolation_utils.cpp
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
* Update common/math/interpolation/test/src/test_interpolation_utils.cpp
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
* Update common/math/interpolation/test/src/test_interpolation_utils.cpp
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
* fix README.md
* dealt with reviews
* update README.md
* update README.md
* Update common/math/interpolation/README.md
* fix some bugs
* fix typo
* update README.md
* Update common/math/interpolation/README.md
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
* fix test
* Update common/math/interpolation/README.md
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
* fix cdots
* fix README.md
* Update common/math/interpolation/README.md
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
* Sync develop/fix interpolation and speed up calculation (#2290)
* debug slope calculation in behavior (#1566) (#1727)
* debug slope calculation in behavior (#1566)
* update
* update
* revert change of autoware_utils
* define getPose in behavior_path_planner
* update
* update
* update
* update
* interpolate z in obstacle_avoidance_planner
* update velocity controller
* fix detection area and scene
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* update comment in velocity controller
* remove debug print
* update
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix typo
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix variable names
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix uncrustify
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix mistake
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
* add underscore to marker namespace (#1785)
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
* [obstacle_avoidance_planner] remove useless get nearest idx (#1851)
* modify velocity insertion in obstacle_avoidance_planner
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* [obstacle_avoidance_planner] reduce calculation cost in relative/absolute transformation (#1844)
* implement relative/absolute transformation without yaw but directly sin/cos of yaw
* rename: relative_p to absolute_p
* assigin point.z to rel/abs_z
* fix cpp-lint error
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* fix argument order (#1502) (#1622)
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
* Change param (#1559) (#1677)
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
* Feature/use spline module in behavior velocity planner (#1457) (#1495)
* Feature/use spline module in behavior velocity planner (#1457)
* Use spline_interpolation module
* Remove unused function
* Remove unused include
* Use autoware_utils
* Remove unused function
* Remove cubic_spline.hpp
* Fix error handling
* Fix interpolation of velocity
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* change warning threshold (#1539)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Apply lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Feature/porting behavior path planner (#1645)
* Add behavior path planner pkg with Lane Change (#1525)
* add lanelet extension funcs
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* add planning msgs for FOA
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* add behavior_path_planner pkg
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* apply clang format
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* add error handling for config load failure
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* replace word: foa with remote control
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* add readme
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* use pointer for return value of path
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* fix hz
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* remove debug print
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* remove shide-shift & avoidance related files
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Clip path by goal
* add build depend for behavior tree cpp
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* temporally disable lint test in lanelet2_extension
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: rej55 <rej55.g@gmail.com>
* Add avoidance module in behavior_path_planner (#1528)
* Revert "remove shide-shift & avoidance related files"
This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2.
* refactor findNewShiftPoint func
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* remove duplicated decleration
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* fix barkward length issue
- add clipPathLenght func in avoidance
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* refactor:
- translate english
- minor modification for traffic distance
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* support debug marker in behavior_path_planner
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* clean up side shift module
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* change topic name
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* remove japanese
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
* fix typo
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* remove unused var
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* adress reviewer comments:
- add const for variables
- add comment
- fix typo
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* fix typo
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
* Replace behavior_path utilities with autoware_utils (#1532)
* replace calcDistance
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* replace arange
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* replave convertToEigenPt with autoware_utils::fromMsg
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* replace normalizeRadian
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* cosmetic change
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* import #1526 into behavior path planner (#1531)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Fix/behavior path empty path output guard (#1536)
* add guard
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp
* fix lateral jerk calculation (#1549)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* fix: error handling on exception in behavior_path_planner (#1551)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Fix ignore too steep avoidance path (#1550)
* ignore too steep path
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
* parametrize lateral jerk limit
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* 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 <tomoya.kimura@tier4.jp>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* use offsetNoThrow and add error log (#1615)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* 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
* fix typo
* add document (#1635)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* Port behavior path planner to ros2
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Apply lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix typo
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix map qos
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* debug slope calculation in behavior (#1566)
* update
* update
* revert change of autoware_utils
* define getPose in behavior_path_planner
* update
* update
* update
* update
* interpolate z in obstacle_avoidance_planner
* update velocity controller
* fix detection area and scene
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* update comment in velocity controller
* remove debug print
* update
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* Address review: Fix config file name
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* pre-commit fixes
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix redeclaring parameters
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Add missing tf2 geometry function
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Apply lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix rclcpp Time initialization
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Use now() instead of msg stamp
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Use throttle output in getExpandedLanelet
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Add missing const
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: rej55 <rej55.g@gmail.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
* Fix/generate intersection stop (#1590) (#1679)
* Fix/generate intersection stop (#1590)
* fix bug of conflicting polygons
* clean code
* Fix lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* Fix/stop margin time ros2 (#1683)
* Add stop margin time in walkway and merge_from_private_area (#1613)
* Add stop margin time in walkway, merge_from_private_area
* Fix param name
* Fix bug
* Apply lint
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
* Feature/change stop lines handling to support parking car avoidance p… (#1676)
* Feature/change stop lines handling to support parking car avoidance path (#1464)
* support parking car avoidance
* change log level
* apply clang-format
* add extendLine function
* clean up & apply clang-format
* change implementation getStopPoseFromMap()
* remove unuse comment line
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
* fix argument order (#1580)
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
* 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
* renaming fix typo add comments
* fix spell check
* velocity -> relative velocity
* calc2d, To param, simplify search, To original
* add the num possible collision gurd
* computational cost reduction
* Cosmetic change for PossibleCollisionInfo
* add interpolation to possible collision value
* refactor codes
* fix details
* invalid point gurd
* To Param
* refacotor to occlusion spot util
* cosmetic change
* clean up blindspot
* To Occlusion Spot
* revise readme
* refactor drawing
* for better explanation
* fix velocity profile
* clean up details
* cosmetic change for debug marker
* use max velocity in obstacle info instead
* add gtest for Too Many Possible Collision case
* change case
* refactor readme
* minor fix
* add more occlusion spot explanation
* replace svg
* add gtest build path lanelet
* hotfix lateral distance and searching method
* update g test for lateral distance
* use faster search
* set more realistic param
* add lanelet subtype highway
* cosmetic change of reviews
* add occlusion spot module in private area (#1640)
* add occlusion spot in private
* For debugging change
* add spline interpolation to path
* add review changes
* adding minor change
* cosmetic change
* Vector to retval
* Blindspot To OcclusionSpot1
* To Occlusion Spot 2
* To Occlusions spot3
* update gtest with unified anchor
* remove anchor
* add test slice
* simplify interpolation
* Too Occlusion spot4
* add test buffer
* To Occlusion spot
* namespace gurd
* correct slice and add interpolation first
* handle self crossing with check for invation
* to ros debug stream
* removed unused interpolation
* add readme to plant uml
* cosmetic change
* minor change
* update readme
* review change
* change occlusion spot text color
* To Offset no Throw
* better debug marker
* catch only inversion error
* skip return in case of inversion
* for better grid
* simplify path lanelet at first
* remove std::cout
* for better path
* limit ego path inside target lanelet location
* remove last points
* cosmetic change for markers
* apply module for limited scene
* fix interpolation gurd
* for better params
* do not includes path behind
* remove dummy perception publisher
* Revert "remove dummy perception publisher"
This reverts commit 4acad985fe31dd9befaa21a16631495de6c3a117.
* replace hard coded occupancy grid option in psim
* remove respawn
* add arg to params and remove redundunt launch
* fix spell check
* fix default value
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* 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
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
* Rename files
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Porting to ros2
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* pre-commit fixes
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix typo
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix launch namespace
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* Fix parameter type
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_private_road.cpp
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
* fix function name and condition for detection area (#1758)
* Fix build warning for occlusion spot (#1766)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix passing uninitialized index (#1792)
* Fix passing uninitialized index
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Apply uncrustify
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix return value
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
* Fix/intersection bug (#1787)
* fix insert point function
* apply format
* separate insertPoint and hasDuplicatedPoint
* clean code
* fix bug
* replace velocity if collision point is too close to original path point (#1799)
* replace velocity if collision point is too close to original path point
* fix comment
* Fix compile warnings (#1852)
Fix -Wunused-parameter
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Fix -Wunused-private-field
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Fix -Wunused-lambda-capture
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Fix -Wdelete-non-abstract-non-virtual-dtor
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Fix -Wrange-loop-construct
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Ignore lint error
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Document / behavior velocity planner (#1767)
update document
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
* fix occlusion spot insert velocity ros2 (#1821)
* Fix/occlusion spot offset (#1824)
* merge calcCollisionFunction
* ConsiderSignedOffset
* add extractRoadTargetAndSignedOffset
* apply signed offset and fix longitudinal distance
* fix unapplied param
* update gtest
* consider offset until target road
* refactor for proper variable name
* fix typo
* remove unused first index
* fix closest
* fix diff
* fix velocity and height
* tune distance thershold
* fix colcon test
* apply param at the experiment
* fix unused and param
* Fix/current acc initialize (#1899)
* use boost::optional
* null guard
* fix typo
* 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>
* [behavior_velocity_planner] remove unnecessary graph search to reduce computational cost (#1980)
* remote unnecessary graph search
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* add var for graph id
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* remove unused stopline search for computational cost reduction
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* restore lane_ids iteration as it was
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* sort sidewalk slice by arc length (#1967)
* sort sidewalk slice by arc length
* handle invalid index
* divide offset to ego to closest to and closest to target
* fix cartesian distance to arc lane distance
* consider ego to target to ignore length
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
* Fix/merge from private area (#2005)
* fix insert pos. of merge from private area
* exclude entrance of private road from path
* extract exit of private road
* Feature/intersection module detect obstacle (#1990)
* change the way to detect target objects in detection area
* check the angle of deteced objects
* ignore predicted path with low confidence
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/README.md
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
* fix format
* fix object position judge
* change function
* apply format
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
* occlusion spot lower min ego velocity (#2140)
Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp>
* add behavior velocity planner utils (#2113)
* add gtest utils
* add state machine as utils
* add arc lane utils
* remove empty file
* add gtest for offset segment
* use calcdist2d in autoware util
* apply get point
* fix uncrustify
* fix conflict getPoint in behavior path
* apply commit suggestion
* slower than ros1
* use interpolation::slerp (#2161)
* Update traffic light state if ref stop point is ahead of previous one (#2197) (#2240)
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
* 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
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 (#500)
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* rename topic name twist -> odometry (#568)
Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>
* Auto/behavior velocity (#605)
* port except for traffic light
* fix test
* update traffic light
* fix errors
* rename traffic message: final -> result
* fix package.xml
* twist -> odometry
* use confidence
* rename topic name of dynamic objects
* remove TODOs
* deal with probabilistic test failure
* deal with probabilistic test failure2
Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>
* 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 <ttatcoder@outlook.jp>
* fix topic name (#2266)
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* 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)
* extend crosswalk polygon
* improve readability
* fix polygon shape
* Add warning when decel distance calculation fails (#2289)
Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
* [motion_velocity_smoother] ignore debug print (#2292)
* cosmetic change
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* cahnge severity from WARN to DEBUG for debug info
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* use util for stop_watch
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
* fix map based prediction (#2200)
* fix map based prediction
* fix format
* change map based prediction
* fix spells
* fix spells in comments
* fix for cpplint
* fix some problems
* fix format and code for clang-tidy
* fix space for cpplint
* Update Readme.md
* Update perception/object_recognition/prediction/map_based_prediction/Readme.md
* Update perception/object_recognition/prediction/map_based_prediction/Readme.md
* Update perception/object_recognition/prediction/map_based_prediction/Readme.md
* Update perception/object_recognition/prediction/map_based_prediction/Readme.md
* Update perception/object_recognition/prediction/map_based_prediction/Readme.md
* Update perception/object_recognition/prediction/map_based_prediction/Readme.md
* fix vector access method
* fix readme format
* add parameter
* Update perception/object_recognition/prediction/map_based_prediction/Readme.md
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
* Update perception/object_recognition/prediction/map_based_prediction/Readme.md
Co-authored-by: Kazuki Miyahara <kmiya@out…
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* Feature/porting behavior path planner (autowarefoundation#1645) * Add behavior path planner pkg with Lane Change (autowarefoundation#1525) * add lanelet extension funcs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add planning msgs for FOA Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add behavior_path_planner pkg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply clang format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add error handling for config load failure Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace word: foa with remote control Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add readme Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use pointer for return value of path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix hz Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug print Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove shide-shift & avoidance related files Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Clip path by goal * add build depend for behavior tree cpp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * temporally disable lint test in lanelet2_extension Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> * Add avoidance module in behavior_path_planner (autowarefoundation#1528) * Revert "remove shide-shift & avoidance related files" This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. * refactor findNewShiftPoint func Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove duplicated decleration Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix barkward length issue - add clipPathLenght func in avoidance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * refactor: - translate english - minor modification for traffic distance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * support debug marker in behavior_path_planner Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * clean up side shift module Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change topic name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove japanese Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused var Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * adress reviewer comments: - add const for variables - add comment - fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Replace behavior_path utilities with autoware_utils (autowarefoundation#1532) * replace calcDistance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace arange Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replave convertToEigenPt with autoware_utils::fromMsg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace normalizeRadian Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * import autowarefoundation#1526 into behavior path planner (autowarefoundation#1531) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix/behavior path empty path output guard (autowarefoundation#1536) * add guard Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp * fix lateral jerk calculation (autowarefoundation#1549) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: error handling on exception in behavior_path_planner (autowarefoundation#1551) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix ignore too steep avoidance path (autowarefoundation#1550) * ignore too steep path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp * parametrize lateral jerk limit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * 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 <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * use offsetNoThrow and add error log (autowarefoundation#1615) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Ignore object ahead goal for avoidance (autowarefoundation#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 (autowarefoundation#1636) * fix intersection stop line * fix typo * add document (autowarefoundation#1635) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Port behavior path planner to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix map qos Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * debug slope calculation in behavior (autowarefoundation#1566) * update * update * revert change of autoware_utils * define getPose in behavior_path_planner * update * update * update * update * interpolate z in obstacle_avoidance_planner * update velocity controller * fix detection area and scene * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * update comment in velocity controller * remove debug print * update Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Address review: Fix config file name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix redeclaring parameters Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing tf2 geometry function Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix rclcpp Time initialization Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use now() instead of msg stamp Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use throttle output in getExpandedLanelet Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing const Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> * Fix/separate drivable area calculation (autowarefoundation#1828) * Do not calculate drivable area at plan candidate * Remove is_first_plan_ * Fix comment * Fix compile warnings (autowarefoundation#1852) Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wunused-private-field Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wunused-lambda-capture Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wdelete-non-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wrange-loop-construct Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Ignore lint error Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Feature/behavior fillpoly drivable area fast (autowarefoundation#1843) * add sample codes to check how overlapped polygon works, which have to be removed before merged * remove cv::Mats for each lanelet * remove unused variable * remove test sample codes * assign pose to pre goal in behavior (autowarefoundation#1874) * Rearrange behavior path planner utilities (autowarefoundation#1944) * Refactor route handler * Refactor utilities * Remove unnecessary blank line * [behavior_path_planner] refactor parameter declaration (autowarefoundation#1953) * refactor parameter definition Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [behavior_path_planner] remove unused drivable area calculation (autowarefoundation#1977) * [behavior_path_planner] remove unused drivable area calculation in planCandidate() Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change function name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [behavior_path_planner] update side shift module (autowarefoundation#1968) * fix side_shift module with path_shifter Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update readme for side shift Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix markdown lint Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused drivable area calculation Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * rename thres -> threshold Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix package.xml (autowarefoundation#2056) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Feature/expand drivable area (autowarefoundation#1812) * check if ego lane has adjacent lane or not * expand drivable area by using lanelet * remove unnecessary operator * use extra drivable area * fix variable names * fix indent * get polygon by id * fix variable name * remove redundant logic * update area name * disable expand by default Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * fix clip path length (autowarefoundation#2095) * fix clip path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * not ignore lanelet altitude (autowarefoundation#2132) (autowarefoundation#2133) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * Fix/side shift approval (autowarefoundation#2126) * Fix approval * Add clear approval * Fix typo * add pull over/out module (autowarefoundation#2147) * Improve avoidance algorithm in behavior_path_planner (autowarefoundation#2127) * add debug comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use same clock and logger Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove Frenet struct Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Correspond exactly to the modified and raw shift points. Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * separate structure file Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix return shift calculation Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add index info on path marker Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update returnSHift func Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update param Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update findNewShiftPoiint logic by using linear shifter Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix return distance calculation Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix return shift for steep shape Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix for return shift after approval Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * re-fix for return shift after approval Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * re-re-fix for return shift after approval Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add same object_id shift for parent_ids even if it is not overwrapped. Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix clock for approval_handler Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix bug: extra_return_shift is not registered Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update - update logic of unique check for registered shift - update addReturnShift func to support for opposite obstacle case - disable trimSmallShift Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use relative shift for avoid start point Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update path_shifter: use end_point shift for relative shift calculation so that the desired shift length is set at shift_point's end_idx (before, it was set at the end point of the path) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update: select existing shift point that will be removed before adding a new one Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix path_shifter: current_shift for linear shift Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update - add ignore over-jerk shift function - improve debug print Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update - add control flag for debug print - add control flag for debug marker Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * TMP: add sparse resampling to reduce computational cost Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update parameter: min_nominal_avoidance_speed 3.0 -> 5.0 Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change - move some debug functions to debug.cpp - remove temporal debug comment - remove unused params - parametrize some values - align function decleration order Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add empty avoidance design Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * applly format Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix design.md directory Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change variable nale sudden, tight -> sharp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix default value Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add design Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move some functions to util Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix design typo Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove temporal mutable & adjust function name Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * parametrize some hard-coded params Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * follow ament_uncrustify & cpplint Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix parent_id inheritance bug Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * back to experiment config Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update trim filter: trimSharpReturn Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add lost-detection compensator Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * resolve todo for empty path Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * change param: set false for debug publisher Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update debug comment Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove unused debug print Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update default param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use closest footpoint from ego for avoidance point Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move lateral and longitudinal distance calculation to util Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * simplify mergeShift function Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix readme style Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * revert unexpected changes Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * - remove unused comment - translate to english Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix for createQuaternionFromRPY/Yaw (autowarefoundation#2154) * add behavior velocity planner utils (autowarefoundation#2113) * add gtest utils * add state machine as utils * add arc lane utils * remove empty file * add gtest for offset segment * use calcdist2d in autoware util * apply get point * fix uncrustify * fix conflict getPoint in behavior path * apply commit suggestion * slower than ros1 * use interpolation::slerp (autowarefoundation#2161) * Fix side shift planner (autowarefoundation#2171) * add print debug Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove forward shift points when adding new point Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove debug print Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * format Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * Fix remove threshold Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Fix/pull out and pull over (autowarefoundation#2175) (autowarefoundation#2177) * delete unnecessary check * fix condition of starting pull out Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * change threshold_distance_object_is_on_center to 1.0 (autowarefoundation#2176) Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * [hotfix] 1 path point exception after resampling (autowarefoundation#2204) (autowarefoundation#2208) * fix 1 path point exception after resampling Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * Apply suggestions from code review * Apply suggestions from code review Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * [hotfix] Fix lane ids (autowarefoundation#2211) (autowarefoundation#2212) * Fix lane ids Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Prevent acceleration on avoidance (autowarefoundation#2214) (autowarefoundation#2216) * prevent acceleration on avoidance Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix param name Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * parametrize avoidance acc Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change param name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * design document for avoidance module (autowarefoundation#2196) * Update behavior_path_planner_avoidance-design.md Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix for markdown lint Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix lint Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * [hotfix] Remove exception in avoidance module (autowarefoundation#2233) (autowarefoundation#2234) * Remove exception * Fix clock * Remove blank line Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Add description in behavior path planner (autowarefoundation#2248) * add description for goal point management functions Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change function name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update readme Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix readme Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * refactor center line calculation (autowarefoundation#2252) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * 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> * rename topic name twist -> odometry (autowarefoundation#568) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Port behavior path planner (autowarefoundation#622) * Convert message to autoware_auto_msgs * Use route_handler package and fix bugs * Fix README * Fix hazard signal * Fix default value of TurnSignalInfo and use get_clock() * Use odometry * Sync .auto branch with the latest branch in internal repository (autowarefoundation#691) * add trajectory point offset in rviz plugin (autowarefoundation#2270) * sync rc rc/v0.23.0 (autowarefoundation#2258) * fix interpolation for insert point (autowarefoundation#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 <ttatcoder@outlook.jp> * fix topic name (autowarefoundation#2266) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Add namespace to diag for dual_return_filter (autowarefoundation#2269) * Add a function to make 'geometry_msgs::msg::TransformStamped' (autowarefoundation#2250) * Add a function to make 'geometry_msgs::msg::TransformStamped' * Add 'child_frame_id' as an argument of 'pose2transform' * Simplify marker scale initialization (autowarefoundation#2286) * Fix/crosswalk polygon (autowarefoundation#2279) * extend crosswalk polygon * improve readability * fix polygon shape * Add warning when decel distance calculation fails (autowarefoundation#2289) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * [motion_velocity_smoother] ignore debug print (autowarefoundation#2292) * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cahnge severity from WARN to DEBUG for debug info Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use util for stop_watch Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix map based prediction (autowarefoundation#2200) * fix map based prediction * fix format * change map based prediction * fix spells * fix spells in comments * fix for cpplint * fix some problems * fix format and code for clang-tidy * fix space for cpplint * Update Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * fix vector access method * fix readme format * add parameter * Update perception/object_recognition/prediction/map_based_prediction/Readme.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update perception/object_recognition/prediction/map_based_prediction/Readme.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update perception/object_recognition/prediction/map_based_prediction/Readme.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * remove failure condition for 0 velocity trajectory (autowarefoundation#2295) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [mpc_follower] remove stop distance condition from stopState decision (autowarefoundation#1916) * [mpc_follower] remove stop distance condition from stopState decision Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add invalid index handling Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Move the debug marker initialization part to another file (autowarefoundation#2288) * Move the debug marker initialization part to 'debug.cpp' * Make 'isLocalOptimalSolutionOscillation' independent from 'NDTScanMatcher' (autowarefoundation#2300) * Remove an unused function 'getTransform' (autowarefoundation#2301) * Simplify iteration of initial poses (autowarefoundation#2310) * Make a transform object const (autowarefoundation#2311) * Represent poses in 'std::vector' instead of 'geometry_msgs::msg::PoseArray' (autowarefoundation#2312) * Feature/no stopping area (autowarefoundation#2163) * add no stopping area module to behavior velocity planner * apply utils * add polygon interpolation module order stopline around area is considered * devide jpass udge with stop line polygon * update docs * rename file name * update to latest * minor change for marker * update license Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * update license Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * update license Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * update license Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * minor fix * add parameter tuning at experiment * update readme * format doc * apply comments * add exception gurd * cosmetic change * fix ament * fix typo and remove for statement * & to " " * better ns * return pass judge param * add missing stoppable condition * add clear pass judge and stoppable flag * add comment * precommit fix * cpplint Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * sync rc rc/v0.23.0 (autowarefoundation#2281) * Fix side shift planner (autowarefoundation#2171) (autowarefoundation#2172) * add print debug Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove forward shift points when adding new point Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove debug print Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * format Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * Fix remove threshold Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix/pull out and pull over (autowarefoundation#2175) * delete unnecessary check * fix condition of starting pull out * Add emergency status API (autowarefoundation#2174) (autowarefoundation#2182) * Fix/mpc reset prev result (autowarefoundation#2185) (autowarefoundation#2195) * reset prev result * clean code * reset only raw_steer_cmd * Update control/mpc_follower/src/mpc_follower_core.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [hotfix] 1 path point exception after resampling (autowarefoundation#2204) * fix 1 path point exception after resampling Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * Apply suggestions from code review * Apply suggestions from code review Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * [hotfix] Fix lane ids (autowarefoundation#2211) * Fix lane ids * Prevent acceleration on avoidance (autowarefoundation#2214) * prevent acceleration on avoidance Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix param name Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * parametrize avoidance acc Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change param name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix qos in roi cluster fusion (autowarefoundation#2218) * fix confidence (autowarefoundation#2220) * too high confidence (autowarefoundation#2229) * Fix/obstacle stop 0.23.0 (autowarefoundation#2232) * fix unexpected slow down in sharp curves (autowarefoundation#2181) * Fix/insert implementation (autowarefoundation#2186) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * [hotfix] Remove exception in avoidance module (autowarefoundation#2233) * Remove exception * Fix clock * Remove blank line * Update traffic light state if ref stop point is ahead of previous one (autowarefoundation#2197) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix interpolation for insert point (autowarefoundation#2228) * fix interpolation for insert point * to prev interpolation pkg * fix index (autowarefoundation#2265) * turn signal calculation (#2280) * add turn signal funtion in path shifter * add ros parameters Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> 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 (autowarefoundation#2305) (autowarefoundation#2318) * fix return-from-ego shift point generation logic Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change param for trimSimilarGradShiftPoint Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add comment for issue Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace code with function (logic has not changed) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move func to cpp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add comment for issue Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Add functions to make stamped scalar messages (autowarefoundation#2317) * Fix/object yaw in intersection module (autowarefoundation#2294) * fix object orientation * fix function name * add guard (autowarefoundation#2321) * reduce cost (double to float) (autowarefoundation#2298) * Add detail collision check (autowarefoundation#2274) * Add detail collision check Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Remove unused function Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix arc length Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Seperate time margin Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix parameter name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update Readme Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Address review: Add comment for TimeDistanceArray Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Run pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix cpplint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add return for empty polygon Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * update CenterPoint (autowarefoundation#2222) * update to model trained by mmdet3d * add vizualizer (debug) * for multi-frame inputs * chagne config * use autoware_utils::pi * project specific model and param * rename vfe -> encoder * rename general to common * update download link * update * fix * rename model_name * change training toolbox link * chage lint package * fix test error * commit suggestion * Feature/lane change detection (autowarefoundation#2331) * add old information deleter * fix access bug * change to deque * update obstacle buffer * fix some bugs * add lane change detector * make a update lanelet function * fix code style * parameterize essential values * Update perception/object_recognition/prediction/map_based_prediction/src/map_based_prediction_ros.cpp Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix slash position * remove unnecessary lines * fix format * fix format * change to new enum * fix format * fix typo and add guard * change funciton name * add lane change description Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Add Planning Evaluator (autowarefoundation#2293) * Add prototype planning evaluator Produced data for dist between points, curvature, and relative angle * Cleanup the code to make adding metrics easier * Add remaining basic metrics (length, duration, vel, accel, jerk) * Add motion_evaluator to evaluate the actual ego motion + code cleanup * Add deviation metrics * Add naive stability metric * Handle invalid stat (TODO: fix the output file formatting) * Add parameter file and cleanup * Add basic obstacle metric (TTC not yet implemented) and fix output file format * Add basic time to collision * Add lateral-distance based stability metric * Add check (at init time) that metrics' maps are complete * Publish metrics as ParamaterDeclaration msg (for openscenario) * Use lookahead and start from ego_pose when calculating stability metrics * Code cleanup * Fix lint * Add tests * Fix bug with Frechet dist and the last traj point * Finish implementing tests * Fix lint * Code cleanup * Update README.md * Remove unused metric * Change msg type of published metrics to DiagnosticArray * fix format to fix pre-commit check Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix yaml format to fix pre-commit check Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix yaml format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply clang-format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply clang-format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/planning_diagnostics/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp * Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp * Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp * change lint format to autoware_lint_common Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Add keep braking function at driving state (autowarefoundation#2346) * Add keep braking function at driving state Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Remove debug messages Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Fix format Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Change diag_updater's pediod from default to 0.1sec (autowarefoundation#2348) * add cross judgement and common signal function (autowarefoundation#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 * remove original signal calculation in lane change * omit substitution * replace turn signal decider in pull over function * modify cross judge logic * replace turn signal decider in avoidance * add readme of turn signal * update * delete print debug * update * delete lane change decider in path shifter * delete blank line * fix indent * fix typo * fix typo * decrease nest * run pre commit * Add 0 limit at forward jerk velocity filter (autowarefoundation#2340) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * add time offset param to point cloud concatenation (autowarefoundation#2303) * add offset param * clang-format Co-authored-by: Akihito OHSATO <aohsato@gmail.com> * Feature/add doc for keep braking function at driving state (autowarefoundation#2366) * Add the description of brake keeping Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Add the english document Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Improve description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Add english description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Fix include files (autowarefoundation#2339) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * 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 (autowarefoundation#1916)" This reverts commit ff4f0b5a844d1f835f1b93bd3b36a76747b0cd02. * Revert "Add keep braking function at driving state (autowarefoundation#2346)" This reverts commit f0478187db4c28bf6092c198723dcc5ec11a9c70. * Revert "Feature/add doc for keep braking function at driving state (autowarefoundation#2366)" This reverts commit 66de2f3924a479049fce2d5c5c6b579cacbd3e49. * Fix orientation availability in centerpoint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix test_trajectory.cpp * add target link libraries * Use .auto msg in test code for planniing evaluator Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix include Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> Co-authored-by: s-murakami-esol <81723883+s-murakami-esol@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Co-authored-by: Akihito OHSATO <aohsato@gmail.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * [behavior_path_planner]fix velocity of pre_refined_goal (autowarefoundation#725) * fix velocity of pre_refined_goal * use std::clamp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: kyoichi sugahara <81.s.kyo.19@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> Co-authored-by: s-murakami-esol <81723883+s-murakami-esol@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Co-authored-by: Akihito OHSATO <aohsato@gmail.com>
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* Feature/awapi awiv adapter first pr (autowarefoundation#685) * add base file of awapi_awiv_adapter * publish autoware status * update readme * fix readme * rename file * add relay topic * change msg name * publish autoware status * update readme * add new message * add lane change topic, obstacle avoidance topic * update readme * fix readme * add namespace * rename lane change available * fix readme * change pub hz * change topic name * change control mode and add gate_mode * fix readme * update readme Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix typo (autowarefoundation#687) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * move msg file to autoware_api_msgs (autowarefoundation#693) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix/awapi awiv adapter (autowarefoundation#698) * subscribe global rpt * update readme * update readme * add warning * fix readme * update readme Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add check mark for awapi readme (autowarefoundation#723) * add check mark for awapi readme * add blank * add blank * add blank Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/stop reason api (autowarefoundation#729) * fix indent of readme * add mock of stop reason aggregator * add constptr to stop reason * aggregate message * add empty handling * add nullptr handling * fix bug * update readme * fix bug * remove unused ifdef * unify same reason msg to stop factor Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * modify put/goal -> put/route (autowarefoundation#736) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/add goal api (autowarefoundation#734) * add goal api * add msg * update readme * add const auto * clean code Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/extract leaf diag info (autowarefoundation#741) * add mock function of extract leaf diag * remove parent diag * change method of isLeaf * clean code * change varibale/function name * remove string predefine * update readme Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * update awapi readme (autowarefoundation#747) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/change output awapi (autowarefoundation#782) * change ouput of awapi * change error output to warn Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/add battery to awapi (autowarefoundation#804) * implement battery fuel * update readme * add getGearInfo * fix message name * set default value:nan to battery Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Revert "remove ROS1 packages temporarily" This reverts commit c85c1d6789b1a1e63c6b4e60fa4f3296dfb12e74. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Rename launch files to launch.xml (#28) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Port awapi_awiv_adapter to ROS2 (autowarefoundation#51) * Port autoware_api_msgs to ROS2 * Integrate topic_tools * Don't inherit from Node, convert to milliseconds * Remove _node suffix from non-node loggers Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Rename h files to hpp (autowarefoundation#142) * Change includes * Rename files * Adjustments to make things compile * Other packages Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add linters (autowarefoundation#227) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 v0.8.0 awapi awiv adapter (autowarefoundation#282) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 v0.8.0 engage (autowarefoundation#342) * [autoware_vehicle_msgs]: Add engage message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [as]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [awapi_awiv_adapter]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [web_controller]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [vehicle_cmd_gate]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_state_monitor]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_control_msgs]: Remove EngageMode message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [simple_planning_simulator]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 v0.8.0 remove std msgs awapi (autowarefoundation#348) * [autoware_vehicle_msgs] add BatteryStatus msg Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove std_msgs related to autoware_awaiv_adapter node Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * apply ament_uncrustify Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix build failure Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix test failures Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * address review commends Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Awapi update v0.9.0 (autowarefoundation#350) * Feature/add current maxvel to awapi (autowarefoundation#1142) * add current max vel to awapi * add readme * apply format Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix build error Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Add missing return (autowarefoundation#1170) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix cast type Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * [awapi_awiv_adapter] fix bug in the launch file (autowarefoundation#391) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * modify pose_initialize for foa (autowarefoundation#382) * pose_initialize for foa (autowarefoundation#1171) * pose_initialize for foa Signed-off-by: Yamato ANDO <yamato.ando@gmail.com> * rename topic Signed-off-by: Yamato ANDO <yamato.ando@gmail.com> * fix topic name Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix topic name (autowarefoundation#404) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * [awapi_awiv_adapter] fix qos for some of the topics in awapi_awiv_adapter (autowarefoundation#413) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix transform (autowarefoundation#420) * Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix canTransform Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix test Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix typo in awapi module (autowarefoundation#438) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add tl overwriter relay in awapi (autowarefoundation#451) * add tl overwriter relay in awapi * add missed topic type * fix typo of topic name Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add use_sim-time option (autowarefoundation#454) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Format launch files (autowarefoundation#1219) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix rolling build errors (autowarefoundation#1225) * Add missing include files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Replace rclcpp::Duration Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use reference for exceptions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use from_seconds Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Awapi relay component (autowarefoundation#1237) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Refine BSD license name (autowarefoundation#1244) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Clear hazard level when ignored (autowarefoundation#1200) (autowarefoundation#1289) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix flake8 (autowarefoundation#1306) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add perception traffic light state output (autowarefoundation#1302) * Add perception traffic light state output Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Apply message type to relay Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix lint errors (autowarefoundation#1378) * Fix lint errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix variable names Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * change msg type looking traffic light state (autowarefoundation#1494) * change msg type looking traffic light state (autowarefoundation#1455) * change msg type looking traffic light state * fix msg name * using namespace * change function name * fix typo * add readme * Update awapi/awapi_awiv_adapter/Readme.md fix typo Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Remove deprecated message include Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix compiler warnings (autowarefoundation#1837) * Fix -Wunused-private-field Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wunused-variable Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wformat-security Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Winvalid-constexpr Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wdelete-non-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wdelete-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Winconsistent-missing-override Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wrange-loop-construct Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix "invalid application of 'sizeof' to an incomplete type" Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore -Wgnu-anonymous-struct and -Wnested-anon-types Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore -Wno-deprecated-declarations in CUDA-related packages Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add autoware api (autowarefoundation#1979) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/add virtual traffic light planner (autowarefoundation#1588) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Move launch file of external_cmd_selector (autowarefoundation#2017) * Move launch file of external_cmd_selector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add copyright Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Use DeclareLaunchArgument Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix external command api name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Move common parameters Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix format Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix format Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.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 Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix awapi_autoware_state_publisher (autowarefoundation#2085) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/porting behavior path planner (autowarefoundation#1645) * Add behavior path planner pkg with Lane Change (autowarefoundation#1525) * add lanelet extension funcs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add planning msgs for FOA Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add behavior_path_planner pkg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply clang format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add error handling for config load failure Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace word: foa with remote control Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add readme Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use pointer for return value of path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix hz Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug print Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove shide-shift & avoidance related files Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Clip path by goal * add build depend for behavior tree cpp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * temporally disable lint test in lanelet2_extension Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> * Add avoidance module in behavior_path_planner (autowarefoundation#1528) * Revert "remove shide-shift & avoidance related files" This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. * refactor findNewShiftPoint func Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove duplicated decleration Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix barkward length issue - add clipPathLenght func in avoidance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * refactor: - translate english - minor modification for traffic distance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * support debug marker in behavior_path_planner Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * clean up side shift module Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change topic name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove japanese Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused var Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * adress reviewer comments: - add const for variables - add comment - fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Replace behavior_path utilities with autoware_utils (autowarefoundation#1532) * replace calcDistance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace arange Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replave convertToEigenPt with autoware_utils::fromMsg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace normalizeRadian Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * import autowarefoundation#1526 into behavior path planner (autowarefoundation#1531) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix/behavior path empty path output guard (autowarefoundation#1536) * add guard Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp * fix lateral jerk calculation (autowarefoundation#1549) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: error handling on exception in behavior_path_planner (autowarefoundation#1551) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix ignore too steep avoidance path (autowarefoundation#1550) * ignore too steep path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp * parametrize lateral jerk limit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * 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 <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * use offsetNoThrow and add error log (autowarefoundation#1615) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Ignore object ahead goal for avoidance (autowarefoundation#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 (autowarefoundation#1636) * fix intersection stop line * fix typo * add document (autowarefoundation#1635) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Port behavior path planner to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix map qos Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * debug slope calculation in behavior (autowarefoundation#1566) * update * update * revert change of autoware_utils * define getPose in behavior_path_planner * update * update * update * update * interpolate z in obstacle_avoidance_planner * update velocity controller * fix detection area and scene * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * update comment in velocity controller * remove debug print * update Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Address review: Fix config file name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix redeclaring parameters Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing tf2 geometry function Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix rclcpp Time initialization Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use now() instead of msg stamp Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use throttle output in getExpandedLanelet Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing const Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/porting motion velocity smoother (autowarefoundation#1653) * Add motion_velocity_smoother (autowarefoundation#1333) * Refactor node and utilities * Fix utilities * Fix utilities * Fixing... * Runs with L2 smoother * Use boost::optional * Add Linf, JerkFiltered * JerkFiltered * Fix * Fix awapi * Fix bug * Add config files * Fix bug * Fix bug and apply clang-format * Remove unused variable * Fix bug * Change C-style cast to static_cast * Add destructors * Use smart pointers for members * Add test * Fix test code * Tmp: add L2 norm of jerk in objective function * Fix external velocity limit * Fix interpolate in velocity controller and remove prevent move to close stop line * add initial velocity and acceleration to the filter function * Fix index calculation * add new marge function * handle edge case * Tmp: skip osqp_interface build test * Revert get_modified_package.sh * Fix CI * Fix version of osqp * Fix * Add design docment (JPN) * Fix linear interpolation * Refactor node and utilities * Fix utilities * Fix utilities * Fixing... * Runs with L2 smoother * Use boost::optional * Add Linf, JerkFiltered * JerkFiltered * Fix * Fix awapi * Fix bug * Add config files * Fix bug * Fix bug and apply clang-format * Remove unused variable * Fix bug * Change C-style cast to static_cast * Add destructors * Use smart pointers for members * Add test * Fix test code * Tmp: add L2 norm of jerk in objective function * Fix external velocity limit * Fix interpolate in velocity controller and remove prevent move to close stop line * add initial velocity and acceleration to the filter function * Fix index calculation * add new marge function * handle edge case * Tmp: skip osqp_interface build test * Revert get_modified_package.sh * Fix CI * Fix version of osqp * Fix * Add design docment (JPN) * Fix linear interpolation * add new sample function * Fix * Revert velocity_controller * Reset motion_velocity_optimizer * Fix parameter setting * Refactor and fix bugs * Use autoware_utils * Fix doc and bug * Fix doc * Fix external velocity limit and parametrize margin and jerk weight * Fix typo * Fix typo and remove old readme * add stop point calculation and modify objective function * Add parameter handling functions and add namespace * Rename calcClosestTrajectoryPoint to calcInterpolatedTrajectoryPoint and remove unused function * Fix applyExternalVelocityLimit and fix comments * Fix variable name * Fix variable name * Fix yaml comment * Add const * Fix interpolaion * Remove run() and change type of prev_closest_point_ * Update planning/scenario_planning/common/motion_velocity_smoother/src/smoother/smoother_base.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * fix stop point error * Fix linear interpolation and external velocity calculation * Remove debug code * Rename BaseParam * Remove unused func and fix misc * Fix package.xml, include, apply formatting * Fix external velocity limit * add debug calculation time * modify calculation time debugger * modify calculation time publisher * rescale the calculation time * Fix some problem * Update planning/scenario_planning/common/motion_velocity_smoother/launch/motion_velocity_smoother.launch Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: yutaka <purewater0901@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Add Resample Procedure after the optimization in motion_velocity_smoother (autowarefoundation#1530) * do resample after the optimization * modify resample timing * add 0 at the end of the resampeld output trajectory * Manage parameters * Fix format * Fix format * Devide resample function in other file * Update default_motion_velocity_smoother.yaml * Update default_motion_velocity_smoother.yaml Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Output debug trajectories in motion velocity smoother (autowarefoundation#1533) * add debug trajectory * add rqt_multiplot setting files * add calculation tiem visualization * guard emtpy output (autowarefoundation#1537) * Motion velocity smoother doc (autowarefoundation#1563) * Fix doc * Add english doc (tmp) * Add english file * Remove unused files * Fix * Fix typo * Modify 1-size trajectory handling & warning messages (autowarefoundation#1540) * add new guard to delete unnecessary message * change message * add warning messages * chnage message to warning * chnage to throttle * Fix jerk filter calculation (autowarefoundation#1593) * modify jerk filter calculation * remove unnecessary code * change the way of interp. of pose in smoother (autowarefoundation#1600) * Update smoother resampling (autowarefoundation#1595) * add new guard to delete unnecessary message * change message * add warning messages * chnage message to warning * chnage to throttle * modify jerk filter calculation * modify jerk filter calculation * separate resampling code * add new parameter * add new parameter to dynamic reconfigure * remove unnecessary code * add sampling before optimization * add const and blocker * change access to at * fix terminal length value * add comments * clean code * add comment * Fix/insert backward on reverse trajectory (autowarefoundation#1602) * remove unused code Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move debug code Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix insert backward on reverse trajectory Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Porting motion velocity smoother to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix launch and fix warning * pre-commit fixes * Remove unused argument * Comment out unused parameter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add distance threshold in motion_velocity_smoother (autowarefoundation#1659) * Add distance threshold * Remove parameters and use default value * Fix for pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Support Non-zero Stop Point Acceleration (autowarefoundation#1651) * Support non-zero stop point acceleration * modify zero velocity id search function (autowarefoundation#1690) * modify zero velocity id search function * Fix resample function and error handling * Add comment Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: yutaka <purewater0901@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: pre-commit <pre-commit@example.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix/update max velocity topic name (autowarefoundation#2236) Signed-off-by: tanaka3 <ttatcoder@outlook.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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Port awapi awiv adapter to .auto (autowarefoundation#554) * Remove COLCON_IGNORE * Change AutowareState * Change EmergencyState * Change HazardStatus * Split file for convert function * Change Path * Change Trajectory * Change ControlMode * Change Shift * Change TurnSignal and move converter * Change Steering * Change VehicleCommand * Fix EmergencyState * Fix for pre-commit * Move autoware state converter * Fix control comand * Change TwistStamped * Remove unused header Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Use pacmod3 msgs (autowarefoundation#610) * Migration to pacmod3 msgs Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix action for pacmod Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Run pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix package.xml (autowarefoundation#630) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * adapt to actuation cmd/status as control msg (autowarefoundation#646) * adapt to actuation cmd/status as control msg * fix readme * fix topics * fix remaing topics * as to pacmod interface * fix vehicle status * add header to twist * revert gyro_odometer_change * revert twist topic change * revert unchanged package Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix awapi topics (autowarefoundation#685) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix mixed route topic (autowarefoundation#695) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix/psim topics emergency handler awapi (autowarefoundation#702) * fix emergency handler * fix awapi * remove unused topic * remove duplecated vehicle cmd Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix topic type of awapi relay (autowarefoundation#701) * Fix topic type of awapi relay * Fix Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix door cmd topic (autowarefoundation#711) * fix door cmd topic * fix topic Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Update traffic light topic name (autowarefoundation#729) * Update traffic light topic name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update traffic light topic name in perception Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Update twist topic name (autowarefoundation#736) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix: refactor readme Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Shigeki Kobayashi <32808802+sgk-000@users.noreply.github.com> Co-authored-by: Keisuke Shima <keisuke.shima@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: k-obitsu <56008637+k-obitsu@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: yutaka <purewater0901@gmail.com> Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> Co-authored-by: pre-commit <pre-commit@example.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
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…rgency_handler feat(emergency_handler): delete package (autowarefoundation#8917)
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