fix(freespace_planner): can't stop before blocking obstacle in parking#980 #1872

alanmengg · 2022-09-15T04:48:52Z

Description

To close #980.

This PR modifies stop trajectory function in freespace planner. Current stop trajectory is only one point of current pose which will not be used in motion velocity smoother. Make stop trajectory points equal to current trajectory points with zero velocity can successfully be optimized in motion velocity smoother and executed by control module.

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TakaHoribe · 2022-09-15T07:56:45Z

@kosuke55 @shmpwk would you review this PR?

planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp

shmpwk

@alanmengg
Could you check CI test of
semantic-pull-request and DCO?

alanmengg · 2022-09-20T05:44:00Z

@alanmengg Could you check CI test of semantic-pull-request and DCO?

ok. I have fixed them.

shmpwk · 2022-09-20T06:10:16Z

@alanmengg
Could you exclude these commits?
517a23c
515eb22

alanmengg · 2022-09-21T02:19:10Z

@alanmengg Could you exclude these commits? 517a23c 515eb22
ok, I think now I have excluded them.

codecov · 2022-09-21T03:21:44Z

Codecov Report

Base: 9.63% // Head: 9.61% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (a5cbd74) compared to base (30a0f2b).
Patch coverage: 0.00% of modified lines in pull request are covered.

❗ Current head a5cbd74 differs from pull request most recent head a7de81f. Consider uploading reports for the commit a7de81f to get more accurate results

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1872      +/-   ##
========================================
- Coverage   9.63%   9.61%   -0.02%     
========================================
  Files        907     907              
  Lines      56544   56658     +114     
  Branches    6694    6694              
========================================
  Hits        5448    5448              
- Misses     46601   46715     +114     
  Partials    4495    4495

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`9.63% <0.00%> (ø)`		Carriedforward from b91a7fa

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

Impacted Files	Coverage Δ
...ption_rviz_plugin/src/tools/interactive_object.hpp	`0.00% <ø> (ø)`
...r/src/freespace_planner/freespace_planner_node.cpp	`0.00% <0.00%> (ø)`
...clude/freespace_planner/freespace_planner_node.hpp	`0.00% <0.00%> (ø)`

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shmpwk

Excellent!

…owarefoundation#791) * fix(tier4_perception_rviz_plugin): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_perception_rviz_plugin): add target compile definitions Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: guiping meng <alan.meng@autocore.ai>

…#782) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: guiping meng <alan.meng@autocore.ai>

…oundation#793) * fix(ndt_pcl_modified): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt_scan_matcher): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * ci(pre-commit): autofix * remove unused find_package * fix(ndt): remove memory.h Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: guiping meng <alan.meng@autocore.ai>

…autowarefoundation#980 Signed-off-by: guiping meng <alan.meng@autocore.ai>

Signed-off-by: guiping meng <alan.meng@autocore.ai>

…nner_node.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Signed-off-by: guiping meng <alan.meng@autocore.ai>

…undation#782)" This reverts commit 7075fca. Signed-off-by: guiping meng <alan.meng@autocore.ai>

…utowarefoundation#793)" This reverts commit a235363. Signed-off-by: guiping meng <alan.meng@autocore.ai>

…nner_node.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Signed-off-by: guiping meng <alan.meng@autocore.ai> Signed-off-by: guiping meng <alan.meng@autocore.ai>

….com> Signed-off-by: guiping meng <alan.meng@autocore.ai>

Signed-off-by: guiping meng <alan.meng@autocore.ai>

…ing (autowarefoundation#791)" This reverts commit eac57fb. Signed-off-by: guiping meng <alan.meng@autocore.ai>

kosuke55

LGTM!
The sample freespace parking scenario also works fine.

free_space_2022-09-25-01-52-11.mp4

stop if finding an obstacle

free_space_stop_2022-09-25-02-20-29.mp4

kosuke55 · 2022-09-24T16:57:48Z

@TakaHoribe
Could you please approve it as a code owner for merging?

alanmengg · 2022-09-29T10:04:18Z

@TakaHoribe friendly pin.

TakaHoribe

LGTM. Thank you!

…g#980 (autowarefoundation#1872) * fix(tier4_perception_rviz_plugin): modify build error in rolling (tier4#791) * fix(tier4_perception_rviz_plugin): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_perception_rviz_plugin): add target compile definitions Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: guiping meng <alan.meng@autocore.ai> * fix(had_map_utils): modify build error in rolling (tier4#782) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: guiping meng <alan.meng@autocore.ai> * fix: modify build error of ndt related packages in rolling (tier4#793) * fix(ndt_pcl_modified): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt_scan_matcher): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * ci(pre-commit): autofix * remove unused find_package * fix(ndt): remove memory.h Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: guiping meng <alan.meng@autocore.ai> * fix(freespace_planner): Can't stop before blocking obstacle in parking tier4#980 Signed-off-by: guiping meng <alan.meng@autocore.ai> * ci(pre-commit): autofix Signed-off-by: guiping meng <alan.meng@autocore.ai> * Update planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Signed-off-by: guiping meng <alan.meng@autocore.ai> * Revert "fix(had_map_utils): modify build error in rolling (tier4#782)" This reverts commit 7075fca. Signed-off-by: guiping meng <alan.meng@autocore.ai> * Revert "fix: modify build error of ndt related packages in rolling (tier4#793)" This reverts commit a235363. Signed-off-by: guiping meng <alan.meng@autocore.ai> * Update planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Signed-off-by: guiping meng <alan.meng@autocore.ai> Signed-off-by: guiping meng <alan.meng@autocore.ai> * revert some changes Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Signed-off-by: guiping meng <alan.meng@autocore.ai> * revert some changes Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Signed-off-by: guiping meng <alan.meng@autocore.ai> * ci(pre-commit): autofix Signed-off-by: guiping meng <alan.meng@autocore.ai> * revert some changes Signed-off-by: guiping meng <alan.meng@autocore.ai> * fix mistakes Signed-off-by: guiping meng <alan.meng@autocore.ai> * Revert "fix(tier4_perception_rviz_plugin): modify build error in rolling (tier4#791)" This reverts commit eac57fb. Signed-off-by: guiping meng <alan.meng@autocore.ai> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: guiping meng <alan.meng@autocore.ai> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

alanmengg requested a review from TakaHoribe as a code owner September 15, 2022 04:48

alanmengg changed the title ~~fix(freespace_planner): Can't stop before blocking obstacle in parki…~~ fix(freespace_planner): Can't stop before blocking obstacle in parking #980 Sep 15, 2022

alanmengg changed the title ~~fix(freespace_planner): Can't stop before blocking obstacle in parking #980~~ fix(freespace_planner): Can't stop before blocking obstacle in parking Sep 15, 2022

alanmengg changed the title ~~fix(freespace_planner): Can't stop before blocking obstacle in parking~~ fix(freespace_planner): Can't stop before blocking obstacle in parki… Sep 15, 2022

alanmengg changed the title ~~fix(freespace_planner): Can't stop before blocking obstacle in parki…~~ fix(freespace_planner): Can't stop before blocking obstacle in parking #980 Sep 15, 2022

shmpwk requested review from shmpwk and kosuke55 September 15, 2022 06:39

shmpwk added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Sep 15, 2022

shmpwk requested a review from NorahXiong September 15, 2022 08:10

kosuke55 reviewed Sep 15, 2022

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shmpwk reviewed Sep 19, 2022

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alanmengg changed the title ~~fix(freespace_planner): Can't stop before blocking obstacle in parking #980~~ fix(freespace_planner): Can not stop before blocking obstacle in parking Sep 20, 2022

alanmengg changed the title ~~fix(freespace_planner): Can not stop before blocking obstacle in parking~~ fix(freespace_planner): can't stop before blocking obstacle in parking#980 Sep 20, 2022

alanmengg force-pushed the adas branch from 1e80c62 to eaf2ca0 Compare September 20, 2022 05:40

alanmengg requested a review from YamatoAndo as a code owner September 20, 2022 05:40

alanmengg force-pushed the adas branch 2 times, most recently from 391426f to 6f8075a Compare September 21, 2022 02:13

shmpwk approved these changes Sep 21, 2022

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alanmengg force-pushed the adas branch from 6f8075a to d1f52da Compare September 21, 2022 04:13

shmpwk self-requested a review September 21, 2022 04:18

alanmengg force-pushed the adas branch 3 times, most recently from 12a151c to 3acd3d3 Compare September 24, 2022 12:09

wep21 and others added 14 commits September 24, 2022 20:17

fix(had_map_utils): modify build error in rolling (autowarefoundation…

5faa906

…#782) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: guiping meng <alan.meng@autocore.ai>

fix(freespace_planner): Can't stop before blocking obstacle in parking …

c63399a

…autowarefoundation#980 Signed-off-by: guiping meng <alan.meng@autocore.ai>

ci(pre-commit): autofix

2325a75

Signed-off-by: guiping meng <alan.meng@autocore.ai>

Update planning/freespace_planner/src/freespace_planner/freespace_pla…

b317f8e

…nner_node.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Signed-off-by: guiping meng <alan.meng@autocore.ai>

Revert "fix(had_map_utils): modify build error in rolling (autowarefo…

79d187a

…undation#782)" This reverts commit 7075fca. Signed-off-by: guiping meng <alan.meng@autocore.ai>

Revert "fix: modify build error of ndt related packages in rolling (a…

d109e2c

…utowarefoundation#793)" This reverts commit a235363. Signed-off-by: guiping meng <alan.meng@autocore.ai>

Update planning/freespace_planner/src/freespace_planner/freespace_pla…

685e6bd

…nner_node.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Signed-off-by: guiping meng <alan.meng@autocore.ai> Signed-off-by: guiping meng <alan.meng@autocore.ai>

revert some changes Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail…

9c8d493

….com> Signed-off-by: guiping meng <alan.meng@autocore.ai>

revert some changes Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail…

70ffb94

….com> Signed-off-by: guiping meng <alan.meng@autocore.ai>

ci(pre-commit): autofix

4f2dfab

Signed-off-by: guiping meng <alan.meng@autocore.ai>

revert some changes

8c25e58

Signed-off-by: guiping meng <alan.meng@autocore.ai>

fix mistakes

441c77d

Signed-off-by: guiping meng <alan.meng@autocore.ai>

alanmengg force-pushed the adas branch from 3acd3d3 to 441c77d Compare September 24, 2022 12:21

alanmengg requested a review from yukkysaito as a code owner September 24, 2022 12:21

Revert "fix(tier4_perception_rviz_plugin): modify build error in roll…

a7de81f

…ing (autowarefoundation#791)" This reverts commit eac57fb. Signed-off-by: guiping meng <alan.meng@autocore.ai>

kosuke55 approved these changes Sep 24, 2022

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TakaHoribe approved these changes Sep 30, 2022

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shmpwk enabled auto-merge (squash) October 3, 2022 12:07

shmpwk merged commit c7698fc into autowarefoundation:main Oct 3, 2022

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chore: sync upstream tier4/autoware.universe#143

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fix(freespace_planner): can't stop before blocking obstacle in parking#980 #1872

fix(freespace_planner): can't stop before blocking obstacle in parking#980 #1872

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fix(freespace_planner): can't stop before blocking obstacle in parking#980 #1872

fix(freespace_planner): can't stop before blocking obstacle in parking#980 #1872

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