feat: add 'obstacle_velocity_limiter' package #1579

maxime-clem · 2022-08-13T11:15:39Z

Description

This PR adds a new package obstacle_velocity_limiter that is used to increase the feeling of safety by limiting the velocity when driving towards obstacles (e.g., in curves).

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.
The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

codecov · 2022-08-14T10:56:37Z

Codecov Report

Base: 10.77% // Head: 12.56% // Increases project coverage by +1.79% 🎉

Coverage data is based on head (f547a8f) compared to base (41f47be).
Patch coverage: 18.96% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1579      +/-   ##
==========================================
+ Coverage   10.77%   12.56%   +1.79%     
==========================================
  Files        1186      731     -455     
  Lines       84834    59940   -24894     
  Branches    19889    18609    -1280     
==========================================
- Hits         9138     7531    -1607     
+ Misses      66012    43636   -22376     
+ Partials     9684     8773     -911

Flag	Coverage Δ
differential	`12.53% <18.76%> (?)`
total	`?`

Impacted Files	Coverage Δ
...e/tier4_autoware_utils/geometry/boost_geometry.hpp	`50.00% <ø> (ø)`
...limiter/benchmarks/collision_checker_benchmark.cpp	`0.00% <0.00%> (ø)`
...r/include/obstacle_velocity_limiter/parameters.hpp	`0.00% <0.00%> (ø)`
planning/obstacle_velocity_limiter/src/debug.cpp	`0.00% <0.00%> (ø)`
...anning/obstacle_velocity_limiter/src/map_utils.cpp	`0.00% <0.00%> (ø)`
...velocity_limiter/src/obstacle_velocity_limiter.cpp	`0.00% <0.00%> (ø)`
...obstacle_velocity_limiter/src/pointcloud_utils.cpp	`0.00% <0.00%> (ø)`
..._velocity_limiter/src/trajectory_preprocessing.cpp	`0.00% <0.00%> (ø)`
...ity_limiter/src/obstacle_velocity_limiter_node.cpp	`0.64% <0.64%> (ø)`
..._velocity_limiter/test/test_collision_distance.cpp	`25.00% <25.00%> (ø)`
... and 496 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml

planning/obstacle_velocity_limiter/benchmarks/collision_checker_benchmark.cpp

planning/obstacle_velocity_limiter/launch/obstacle_velocity_limiter.launch.xml

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

yukkysaito · 2022-10-26T06:57:10Z

LGTM 👍

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

TakaHoribe

It worked in my environment. Looks perfect. Let's get merge!

* Initial commit with barebone SafeVelocityAdjustorNode Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add debug topics, launch file, and config file Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix debug markers Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix dynamic parameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add proper collision detection and debug footprint Implements Proposal 1. Calculation of the adjusted velocity still needs to be improved Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add script to compare the original and adjusted velocity profiles Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix calculation of distance to obstacle Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add test for calculation collision distance Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add launch file to test the safe_velocity_adjustor with a bag Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Cleanup code and add tests for forwardSimulatedVector Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Simplify collision detection by not using a footprint polygon Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add filtering of the dynamic objects from the pointcloud Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * [DEBUG] Print runtimes of expensive functions Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add trajectory downsampling to boost performance + improve debug markers Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Modify velocity only from ego pose + distance parameter Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add 1st Eigen version of distanceToClosestCollision + benchmark Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Switch to using contours from occupancy grid for collision checking Filtering of dynamic objects is not great Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add buffer around dynamic obstacles to avoid false obstacle detection Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter to limit the adjusted velocity Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Use vehicle_info_util to get vehicle footprint Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Calculate accurate distance to collision + add tests Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter for the min velocity where a dynamic obstacle is ignored Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add README and some pictures to explain the node inner workings Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update scenario_planning.launch.xml to run the new node Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix format of launch files Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update launcher and rviz config used for debuging with bag Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Cleanup debug publishing Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Complete tests of collision_distance.hpp Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add docstring + Small code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve test of occupancy_grid_utils Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix bug when setting parameter callback before getting vehicle parameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Rename safe_velocity_adjustor to apparent_safe_velocity_limiter Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Move declarations to cpp file (apparent_safe_velocity_limiter_node) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Move declarations to cpp file (occupancy_grid_utils) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Move declarations to cpp file (collision_distance) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add exec of trajectory_visualizer.py in launch files Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Mask trajectory footprint from the occupancy grid (might be expensive) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Filter out the occupancy grid that is outside the envelope polygon Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add improved PolygonIterator using scan line algorithm Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Use autoware_cmake for dependencies Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve performances of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Minor cleanup of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Use improved iterator + add benchmark (max/avg/med) to node Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Minor code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Switch from set to vector/list in PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Remove PolygonIterator and use implementation from grid_map_utils Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter to limit deceleration when adjusting the velocity Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Code cleanup, move type decl and debug functions to separate files Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add support for collision detection using pointcloud Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Speedup pointcloud filtering (still ~100ms on bags) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve envelope calculation and use separate node for pcd downsampling Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add ProjectionParameters to prepare for the bicycle model projection Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add bicycle projection with various steering offsets Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update docstring Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Major refactoring, calculate envelope from footprints Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add extraction of static obstacles from lanelet map Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Remove stopwatch Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add arc distance calculation when using bicycle projection Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix multi geometry definitions in tier4_autoware_utils/boost_geometry Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve geometry operations to take advantage of Eigen Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Switch to min/max offset and simplify footprint calculations Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix unit tests (unset params.heading) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add option to filter obstacles using the safety envelope Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix bug with distance calculation and improve debug markers Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update README Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter to set map obstacles by linestring id (for debug) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Move param structures to dedicated file and add PreprocessingParameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter to calculate steering angle of trajectory points Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Cleanup footprint generation Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix bug with debug marker ids Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix bug where the VelocityParameters were not constructed Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update obstacles extraction Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Minor code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Switch to collision detection using rtree Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add publishing of the runtime (in microseconds) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add option to ignore obstacles on the trajectory Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add max length and max duration parameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Restructure Obstacles structure to separate lines and points for speedup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Convert obstacle linestrings to segments when used in the rtree Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter for extra distance when filtering the ego path Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix issues caused by rebase Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Minor code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update to run with looping bag replay Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add debug markers for obstacle masks and only publish when subscribed Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update README Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix humble build issue with PCL library Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update obstacle extraction from lanelet map (no longer based on route) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Optimize use of rtree + use naive collision checking with few obstacles Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Remove debug code and update default parameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Do not wait for self pose Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Rename to obstacle_velocity_limiter Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * More minor cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update READEME.md Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update README to have the purpose written before the illustration Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update copyright notice: Tier IV -> TIER IV Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Remove use_sim_time param from node launch file Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update launch files to run in the motion_planner + add launch config Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

* Initial commit with barebone SafeVelocityAdjustorNode Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add debug topics, launch file, and config file Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix debug markers Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix dynamic parameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add proper collision detection and debug footprint Implements Proposal 1. Calculation of the adjusted velocity still needs to be improved Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add script to compare the original and adjusted velocity profiles Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix calculation of distance to obstacle Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add test for calculation collision distance Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add launch file to test the safe_velocity_adjustor with a bag Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Cleanup code and add tests for forwardSimulatedVector Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Simplify collision detection by not using a footprint polygon Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add filtering of the dynamic objects from the pointcloud Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * [DEBUG] Print runtimes of expensive functions Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add trajectory downsampling to boost performance + improve debug markers Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Modify velocity only from ego pose + distance parameter Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add 1st Eigen version of distanceToClosestCollision + benchmark Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Switch to using contours from occupancy grid for collision checking Filtering of dynamic objects is not great Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add buffer around dynamic obstacles to avoid false obstacle detection Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter to limit the adjusted velocity Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Use vehicle_info_util to get vehicle footprint Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Calculate accurate distance to collision + add tests Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter for the min velocity where a dynamic obstacle is ignored Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add README and some pictures to explain the node inner workings Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update scenario_planning.launch.xml to run the new node Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix format of launch files Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update launcher and rviz config used for debuging with bag Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Cleanup debug publishing Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Complete tests of collision_distance.hpp Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add docstring + Small code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve test of occupancy_grid_utils Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix bug when setting parameter callback before getting vehicle parameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Rename safe_velocity_adjustor to apparent_safe_velocity_limiter Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Move declarations to cpp file (apparent_safe_velocity_limiter_node) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Move declarations to cpp file (occupancy_grid_utils) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Move declarations to cpp file (collision_distance) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add exec of trajectory_visualizer.py in launch files Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Mask trajectory footprint from the occupancy grid (might be expensive) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Filter out the occupancy grid that is outside the envelope polygon Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add improved PolygonIterator using scan line algorithm Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Use autoware_cmake for dependencies Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve performances of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Minor cleanup of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Use improved iterator + add benchmark (max/avg/med) to node Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Minor code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Switch from set to vector/list in PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Remove PolygonIterator and use implementation from grid_map_utils Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter to limit deceleration when adjusting the velocity Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Code cleanup, move type decl and debug functions to separate files Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add support for collision detection using pointcloud Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Speedup pointcloud filtering (still ~100ms on bags) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve envelope calculation and use separate node for pcd downsampling Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add ProjectionParameters to prepare for the bicycle model projection Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add bicycle projection with various steering offsets Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update docstring Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Major refactoring, calculate envelope from footprints Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add extraction of static obstacles from lanelet map Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Remove stopwatch Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add arc distance calculation when using bicycle projection Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix multi geometry definitions in tier4_autoware_utils/boost_geometry Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve geometry operations to take advantage of Eigen Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Switch to min/max offset and simplify footprint calculations Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix unit tests (unset params.heading) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add option to filter obstacles using the safety envelope Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix bug with distance calculation and improve debug markers Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update README Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter to set map obstacles by linestring id (for debug) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Move param structures to dedicated file and add PreprocessingParameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter to calculate steering angle of trajectory points Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Cleanup footprint generation Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix bug with debug marker ids Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix bug where the VelocityParameters were not constructed Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update obstacles extraction Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Minor code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Switch to collision detection using rtree Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add publishing of the runtime (in microseconds) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add option to ignore obstacles on the trajectory Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add max length and max duration parameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Restructure Obstacles structure to separate lines and points for speedup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Convert obstacle linestrings to segments when used in the rtree Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter for extra distance when filtering the ego path Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix issues caused by rebase Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Minor code cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update to run with looping bag replay Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add debug markers for obstacle masks and only publish when subscribed Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update README Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix humble build issue with PCL library Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update obstacle extraction from lanelet map (no longer based on route) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Optimize use of rtree + use naive collision checking with few obstacles Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Remove debug code and update default parameters Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Do not wait for self pose Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Rename to obstacle_velocity_limiter Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * More minor cleanup Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update READEME.md Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update README to have the purpose written before the illustration Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update copyright notice: Tier IV -> TIER IV Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Remove use_sim_time param from node launch file Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Update launch files to run in the motion_planner + add launch config Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

…tersection fix(intersection): set RTC enable (autowarefoundation#9040)

maxime-clem self-assigned this Aug 13, 2022

maxime-clem force-pushed the maxime/decelerate-on-curve branch 8 times, most recently from 772ec16 to 09e9ec4 Compare August 25, 2022 07:30

This was referenced Oct 17, 2022

feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 #2057

Merged

feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 tier4/autoware_launch-old#512

Merged

maxime-clem force-pushed the maxime/decelerate-on-curve branch from 22b4378 to 1795ede Compare October 17, 2022 07:19

maxime-clem changed the title ~~feat: add 'apparent_safety_velocity_limiter' package~~ feat: add 'obstacle_velocity_limiter' package Oct 18, 2022

maxime-clem force-pushed the maxime/decelerate-on-curve branch from c523855 to cff4a52 Compare October 18, 2022 06:00

maxime-clem marked this pull request as ready for review October 18, 2022 06:05

maxime-clem requested review from rej55, kosuke55, kyoichi-sugahara, mkuri, soblin, satoshi-ota, shmpwk, taikitanaka3, TakaHoribe, takayuki5168, TomohitoAndo, tkimura4, purewater0901 and zulfaqar-azmi-t4 as code owners October 18, 2022 06:05

maxime-clem added 11 commits October 26, 2022 13:30

Add debug markers for obstacle masks and only publish when subscribed

c4b2952

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Update README

cb4c2ec

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Fix humble build issue with PCL library

ff88ec9

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Update obstacle extraction from lanelet map (no longer based on route)

7a4d562

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Optimize use of rtree + use naive collision checking with few obstacles

b5b19de

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Remove debug code and update default parameters

dbe6ab2

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Do not wait for self pose

2092d72

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Rename to obstacle_velocity_limiter

6991e00

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

More minor cleanup

005484c

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Update READEME.md

f85a4f8

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Update README to have the purpose written before the illustration

1019c4b

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

yukkysaito reviewed Oct 26, 2022

View reviewed changes

launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml Outdated Show resolved Hide resolved

yukkysaito reviewed Oct 26, 2022

View reviewed changes

planning/obstacle_velocity_limiter/benchmarks/collision_checker_benchmark.cpp Outdated Show resolved Hide resolved

yukkysaito reviewed Oct 26, 2022

View reviewed changes

planning/obstacle_velocity_limiter/launch/obstacle_velocity_limiter.launch.xml Outdated Show resolved Hide resolved

Update copyright notice: Tier IV -> TIER IV

2fad4dc

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

maxime-clem force-pushed the maxime/decelerate-on-curve branch from 69238c9 to 2fad4dc Compare October 26, 2022 05:53

Remove use_sim_time param from node launch file

2bcb16c

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Update launch files to run in the motion_planner + add launch config

f547a8f

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

maxime-clem force-pushed the maxime/decelerate-on-curve branch from 3413912 to f547a8f Compare October 27, 2022 09:32

TakaHoribe approved these changes Nov 2, 2022

View reviewed changes

TakaHoribe merged commit 2997983 into autowarefoundation:main Nov 2, 2022

tier4-autoware-public-bot bot mentioned this pull request Nov 3, 2022

chore: sync upstream tier4/autoware.universe#168

Merged

maxime-clem mentioned this pull request Nov 7, 2022

docs: update diagrams for new 'obstacle_velocity_limiter' planning node autowarefoundation/autoware-documentation#237

Merged

4 tasks

maxime-clem mentioned this pull request Dec 9, 2022

feat(planning_launch): add behavior_velocity_limiter to motion_planning launch file tier4/autoware_launch-old#596

Merged

8 tasks

tkimura4 mentioned this pull request Dec 9, 2022

feat(planning_launch): add behavior_velocity_limiter to motion_planning launch file (#596) tier4/autoware_launch-old#597

Merged

8 tasks

maxime-clem deleted the maxime/decelerate-on-curve branch February 24, 2023 02:20

technolojin pushed a commit to technolojin/autoware.universe that referenced this pull request Oct 28, 2024

Merge pull request autowarefoundation#1579 from tier4/hotfix/v0.36/in…

e6ebc31

…tersection fix(intersection): set RTC enable (autowarefoundation#9040)

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat: add 'obstacle_velocity_limiter' package #1579

feat: add 'obstacle_velocity_limiter' package #1579

maxime-clem commented Aug 13, 2022 •

edited

Loading

codecov bot commented Aug 14, 2022 •

edited

Loading

yukkysaito commented Oct 26, 2022

TakaHoribe left a comment

feat: add 'obstacle_velocity_limiter' package #1579

feat: add 'obstacle_velocity_limiter' package #1579

Conversation

maxime-clem commented Aug 13, 2022 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Aug 14, 2022 • edited Loading

Codecov Report

yukkysaito commented Oct 26, 2022

TakaHoribe left a comment

Choose a reason for hiding this comment

maxime-clem commented Aug 13, 2022 •

edited

Loading

codecov bot commented Aug 14, 2022 •

edited

Loading