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Ali/standalone/awf/autoware control toolbox #1968

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Ali/standalone/awf/autoware control toolbox #1968

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@boyali boyali commented Sep 28, 2022

Description

The Autoware Control Toolbox (ACT) is a library that includes essential classes and functionalities for the controller and planner development process. It consists of the transfer function, state-space, and spline modules which are required to the packages for the nonlinear MPC (NMPC), delay compensator, and simple planning simulator disturbance generator plugins.

Related links

Tests performed

The ACT is tested in GTest framework. We also used the ACT along with the delay compensator and the NMPC in the vehicle tests.

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TakaHoribe and others added 30 commits September 28, 2022 11:26
@TakaHoribe @boyali
fix(behavior_velocity_planenr): add header on debug path msgs (tier4#…
3dcfa85 
…1679)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
@badai-nguyen @boyali
fix(ground_filter): remove base_frame and fix ray_ground_filter (tier…
00be343 
…4#1614)

* fix(ray_ground_filter): cannot remove ground pcl

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: remove base_frame

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* docs: update docs

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chores: remove unnecessary calculation

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chores: remove unnecessary calculation

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* docs: update parameters

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* docs: update parameters

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
@IshitaTakeshi @boyali
fix(ekf_localizer): update the state and publish the estimated pose o…
c68832a 
…nly after initialization
@takayuki5168 @boyali
feat(behavior_path_planner): resample output path (tier4#1604)
17a4c63 
* feat(behavior_path_planner): resample output path

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update param

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@taikitanaka3 @boyali
refactor(blindspot): replace pass judge with arc length comparison (t…
dc19523 
…ier4#1682)

* refactor(blindspot); use arclength for pass judge

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

* refactor: remove unused param

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

* fix: typo

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

* chore: remove comment out

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

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
@mehmetdogru @pre-commit-ci @boyali
feat(surround_obstacle_checker): add vehicle footprint with offset (t…
3de9350 
…ier4#1577)

* fix: right and left overhang fix in SelfPolygon func

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>

* feat: init base polygon

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>

* ci(pre-commit): autofix

* fix: change publishers scope

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>

* feat: pub footprint

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>

* feat: pub footprint with offset

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>

* feat: pub footprint with recover offset

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>

* feat: add footprint publish boolean param to config

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>

* docs: update readme

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@scepter914 @pre-commit-ci @boyali
feat(front_vehicle_velocity_estimator): add front_vehicle_velocity_es…
11bdac6 
…timator (tier4#1536)

* add front vehicle estimator

Signed-off-by: scepter914 <scepter914@gmail.com>

* update README

Signed-off-by: scepter914 <scepter914@gmail.com>

* ci(pre-commit): autofix

* fix cast

Signed-off-by: scepter914 <scepter914@gmail.com>

* add message filter

Signed-off-by: scepter914 <scepter914@gmail.com>

* run pre-commit

Signed-off-by: scepter914 <scepter914@gmail.com>

* fix copyright

Signed-off-by: scepter914 <scepter914@gmail.com>

Signed-off-by: scepter914 <scepter914@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@zulfaqar-azmi-t4 @boyali
fix(behavior_path_planner): drivable area extended while avoidance (t…
2ab5c1d 
…ier4#1688)

* fix(behavior_path_planner): drivable area extended while avoidance

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix empty lanelet issue

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* add cv empty path check from Tanaka-san's suggestion

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@TakaHoribe @boyali
chore(motion_velocity_smoother): disable debug publish in smoother by…
d6a4476 
… default (tier4#1689)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
@purewater0901 @boyali
feat(motion_utils): add guard (tier4#1666)
e878ba3 
* feat(motion_utils): add guard

Signed-off-by: yutaka <purewater0901@gmail.com>

* feat(motion_utils): fix problems

Signed-off-by: yutaka <purewater0901@gmail.com>

* fix threshold

Signed-off-by: yutaka <purewater0901@gmail.com>

Signed-off-by: yutaka <purewater0901@gmail.com>
@purewater0901 @boyali
feat(behavior_path_planner): add closest stop point to resampled poin…
c31a5ac 
…ts (tier4#1691)

* feat(behavior_velocity_planner): add closest stop point to resampled points

Signed-off-by: yutaka <purewater0901@gmail.com>

* first commit

Signed-off-by: yutaka <purewater0901@gmail.com>
@soblin @boyali
feat(behavior_velocity_planner): generate stop line if private path c…
ba3d123 
…onflicts with urban lane (tier4#1676)

* feat(behavior_velocity_planner): activate merge_from_private if the goal is in private path and the lane is conflicting with urban lane

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@taikitanaka3 @boyali
fix(motion_velocity_smoother): fix stop point (tier4#1694)
c40676d 
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
@isamu-takagi @boyali
feat(autoware_ad_api_specs): define routing interface (tier4#1559)
c79e8ea 
* feat(autoware_ad_api_msgs): define routing interface

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: rename route body message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: rename route state

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
@TakaHoribe @boyali
chore(behavior_path_planner): remove unnecessary debug publisher (tie…
eadca92 
…r4#1690)
@isamu-takagi @boyali
feat(autoware_ad_api_specs): define localization interface (tier4#1560)
94952fc 
feat(autoware_ad_api_msgs): define localization interface

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
@takayuki5168 @boyali
feat(motion_utils): add new calcSignedArcLength (tier4#1701)
383618a 
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@isamu-takagi @boyali
refactor(mission_planner): prepare to support ad api (tier4#1561)
5acadd7 
* refactor(mission_planner): prepare to support ad api

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix node name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
@isamu-takagi @boyali
feat(default_ad_api): add routing api (tier4#1494)
6621b7d 
* feat(default_ad_api): add routing api

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: build error

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* docs: add readme

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: change topic namespace

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: function name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: remove debug code

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: copyright

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: adaptor name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: remove macro

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: add launch option for default ad api

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: component interface namespace

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: build error

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: remove start pose

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(autoware_ad_api_msgs): define routing interface

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: rename route body message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: remove create node macro

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: adaptor package

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: helper node

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: error handling

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
@TakaHoribe @boyali
fix(behavior_path_planner): remove waitForData() in constructor (tier…
40492da 
…4#1684)

* fix(behavior_path_planner): remove waitForData() in constructor

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* add rclcpp_info for missing messages

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
@scepter914 @boyali
feat(lidar_centerpoint): add score threshold parameter to center point (
fe8edfb 
tier4#1699)

Signed-off-by: scepter914 <scepter914@gmail.com>

Signed-off-by: scepter914 <scepter914@gmail.com>
@zulfaqar-azmi-t4 @boyali
fix(behavior_path_planner): avoidance drivable area in intersection (t…
e9a0471 
…ier4#1707)

* fix(behavior_path_planner): avoidance drivable area in intersection

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* slight refactor since shared linestring lanelet lambda is not reused

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* use current_lanes instead for the for loop

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@TomohitoAndo @pre-commit-ci @boyali
feat: add vector map inside area filter (tier4#1530)
f24160e 
* feat: add no detection area filter

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

* ci(pre-commit): autofix

* chore: add documents

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

* pre-commit fix

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

* remove comments

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

* fix comments

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

* refactor condition to launch points filter

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

* fix container name

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

* ci(pre-commit): autofix

* chore: add visualization for no obstacle segmentation area

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

* feat: allow any tags to be given by launch arguments

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

* chore: remove unnecessary includes

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

* feat: move the polygon removing function to util and use it

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

* chore: move the place and change the name of node

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

* chore: pre-commit fix

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

* chore: remove unnecessary using

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

* chore: modify container name

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

* chore: fix comments

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

* chore: fix comments

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

* chore: use output arguments for a large data

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

* chore: using namespace of PolygonCgal for readability

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

* feat: add functions for multiple polygons

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

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@mehmetdogru @boyali
fix(behavior_velocity_planner): fix safety slow down crosswalk inters…
c8fb2b7 
…ection check (tier4#1708)

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>
@scepter914 @boyali
feat(multi_object_tracker): change ekf_params_.use_measurement_covari…
8dfae8a 
…ance to has_covariance (tier4#1640)

* feat(multi_object_tracker): make use_measurement_covariance enable

Signed-off-by: scepter914 <scepter914@gmail.com>

* change ekf_params_.use_measurement_covariance to has_covariance

Signed-off-by: scepter914 <scepter914@gmail.com>

Signed-off-by: scepter914 <scepter914@gmail.com>
@takayuki5168 @boyali
feat(motion_utils): add explanation of segment (tier4#1704)
e4580cd 
* feat(motion_utils): add explanation of segment

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update figure size

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@satoshi-ota @boyali
feat(behavior_path_planner): output debug marker from each module (ti…
ba8a465 
…er4#1711)

* feat(behavior_path_planner): output debug marker from each module

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(behavior_path_planner): remove unused publisher

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(behavior_path_planner): remove unused interface function

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@kosuke55 @boyali
docs(obstacle_stop_planner): add limitations of backward driving (tie…
87dd0db 
…r4#1696)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@takayuki5168 @boyali
fix(behavior_path_planner): revival of skipped lane_ids by smooth goa…
58d9ad6 
…l connection (tier4#1626)

* small refactor of skip smooth connection

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* revive removed lane_ids by smooth skip connection

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add test

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix build error

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@takayuki5168 @rej55 @boyali
feat(behavior_path_planner): stabilize lane_following end points (tie…
a026257 
…r4#1632)

* feat(behavior_path_planner): stabilize lane_following end points

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* Update planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
@boyali boyali closed this Sep 28, 2022
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@boyali @TakaHoribe Can I change to draft since this PR have some issues?

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