refactor: ego's position source change from tf to topic in planning/control module #2530

kyoichi-sugahara · 2022-12-20T01:47:01Z

Description

Relates to #1784

Since using getTransform() to obtain the self-position would cause a timeout, the ego-position was replaced with an odometry message that is subscribed in each module.

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

codecov · 2022-12-20T02:33:44Z

Codecov Report

Base: 11.54% // Head: 11.39% // Decreases project coverage by -0.15% ⚠️

Coverage data is based on head (1e192a4) compared to base (11ce12b).
Patch coverage: 5.04% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2530      +/-   ##
==========================================
- Coverage   11.54%   11.39%   -0.15%     
==========================================
  Files        1307     1305       -2     
  Lines       91285    92513    +1228     
  Branches    24208    24897     +689     
==========================================
+ Hits        10535    10541       +6     
- Misses      69715    70877    +1162     
- Partials    11035    11095      +60

Flag	Coverage Δ		*Carryforward flag
differential	`6.19% <2.08%> (?)`
total	`11.52% <3.93%> (-0.03%)`	⬇️	Carriedforward from dddff0e

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

Impacted Files	Coverage Δ
...c/pure_pursuit/pure_pursuit_lateral_controller.cpp	`0.00% <0.00%> (ø)`
localization/ekf_localizer/src/ekf_localizer.cpp	`0.00% <0.00%> (ø)`
...havior_path_planner/behavior_path_planner_node.hpp	`0.00% <0.00%> (ø)`
...ner/include/behavior_path_planner/data_manager.hpp	`0.00% <ø> (ø)`
...lanner/scene_module/avoidance/avoidance_module.hpp	`0.00% <0.00%> (ø)`
...th_planner/scene_module/scene_module_interface.hpp	`0.00% <0.00%> (ø)`
...nner/scene_module/side_shift/side_shift_module.hpp	`0.00% <0.00%> (ø)`
.../scene_module/utils/geometric_parallel_parking.hpp	`0.00% <ø> (ø)`
...lanner/include/behavior_path_planner/utilities.hpp	`34.48% <ø> (+5.07%)`	⬆️
...or_path_planner/src/behavior_path_planner_node.cpp	`0.27% <0.00%> (+0.11%)`	⬆️
... and 77 more

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp>

…warefoundation#2561) * revert(tier4_map_launch): move config back to autoware.universe Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix map.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp>

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

planning/behavior_path_planner/src/behavior_path_planner_node.cpp

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

TomohitoAndo · 2023-01-12T01:47:46Z

@kyoichi-sugahara
typo in PR title?
sorce -> source

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…ontrol module (autowarefoundation#2530) * change in pure_pursuit Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change in motion_velocity_smoother Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace pose from tf to topic in behavior_path_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * replace PoseStamped with Pose Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace self_pose with self_odometry Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete self_pose in planner_data Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * define current_odometry Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace transofrmed position with topic in behavior_velocity_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * remove current_pose Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * fix(system_monitor): change default param path (autowarefoundation#2560) Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert(tier4_map_launch): move config back to autoware.universe (autowarefoundation#2561) * revert(tier4_map_launch): move config back to autoware.universe Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix map.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> * define self_odometry as ConstPointer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle avoidance planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle velocity limiter node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle velocity limiter node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * replace TF to odom Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary unlock Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix builf error * fix bug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * self_pose to self_odometry in lanechange module Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix small bug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Update node.cpp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Signed-off-by: veqcc <ryuta.kambe@tier4.jp>

…ontrol module (autowarefoundation#2530) * change in pure_pursuit Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change in motion_velocity_smoother Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace pose from tf to topic in behavior_path_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * replace PoseStamped with Pose Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace self_pose with self_odometry Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete self_pose in planner_data Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * define current_odometry Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace transofrmed position with topic in behavior_velocity_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * remove current_pose Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * fix(system_monitor): change default param path (autowarefoundation#2560) Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert(tier4_map_launch): move config back to autoware.universe (autowarefoundation#2561) * revert(tier4_map_launch): move config back to autoware.universe Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix map.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> * define self_odometry as ConstPointer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle avoidance planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle velocity limiter node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle velocity limiter node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * replace TF to odom Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary unlock Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix builf error * fix bug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * self_pose to self_odometry in lanechange module Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix small bug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Update node.cpp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

…ontrol module (autowarefoundation#2530) * change in pure_pursuit Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change in motion_velocity_smoother Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace pose from tf to topic in behavior_path_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * replace PoseStamped with Pose Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace self_pose with self_odometry Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete self_pose in planner_data Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * define current_odometry Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace transofrmed position with topic in behavior_velocity_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * remove current_pose Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * fix(system_monitor): change default param path (autowarefoundation#2560) Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert(tier4_map_launch): move config back to autoware.universe (autowarefoundation#2561) * revert(tier4_map_launch): move config back to autoware.universe Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix map.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> * define self_odometry as ConstPointer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle avoidance planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle velocity limiter node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle velocity limiter node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * replace TF to odom Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary unlock Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix builf error * fix bug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * self_pose to self_odometry in lanechange module Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix small bug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Update node.cpp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

…ontrol module (autowarefoundation#2530) * change in pure_pursuit Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change in motion_velocity_smoother Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace pose from tf to topic in behavior_path_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * replace PoseStamped with Pose Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace self_pose with self_odometry Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete self_pose in planner_data Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * define current_odometry Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * replace transofrmed position with topic in behavior_velocity_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * remove current_pose Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * fix(system_monitor): change default param path (autowarefoundation#2560) Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert(tier4_map_launch): move config back to autoware.universe (autowarefoundation#2561) * revert(tier4_map_launch): move config back to autoware.universe Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix map.launch.xml Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> * define self_odometry as ConstPointer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle avoidance planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle velocity limiter node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * tf to topic in obstacle velocity limiter node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci(pre-commit): autofix * replace TF to odom Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary unlock Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix builf error * fix bug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * self_pose to self_odometry in lanechange module Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix small bug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Update node.cpp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

kyoichi-sugahara added 3 commits December 15, 2022 02:17

change in pure_pursuit

40ec3e9

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

change in motion_velocity_smoother

194cc23

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'autowarefoundation:main' into refactor/TF_to_topic

f9dc846

github-actions bot added component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Dec 20, 2022

kyoichi-sugahara changed the title ~~Refactor/tf to topic~~ refactor: egoposition sorce change from tf to topic in planning/control module Dec 21, 2022

kyoichi-sugahara changed the title ~~refactor: egoposition sorce change from tf to topic in planning/control module~~ refactor: ego's position sorce change from tf to topic in planning/control module Dec 21, 2022

kyoichi-sugahara and others added 15 commits December 21, 2022 09:17

Merge branch 'autowarefoundation:main' into refactor/TF_to_topic

f0ae3d7

replace pose from tf to topic in behavior_path_planner

60ece41

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

ci(pre-commit): autofix

f97c1e9

replace PoseStamped with Pose

8964ba0

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

replace self_pose with self_odometry

090006d

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

delete self_pose in planner_data

e73b8c2

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

define current_odometry

b0254a0

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

replace transofrmed position with topic in behavior_velocity_planner

5a23095

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

remove current_pose

2f97d58

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

ci(pre-commit): autofix

35d9007

fix build error

db92c9b

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

ci(pre-commit): autofix

9623248

Merge branch 'autowarefoundation:main' into refactor/TF_to_topic

4c21460

fix(system_monitor): change default param path (autowarefoundation#2560)

342a39a

Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp>

github-actions bot added component:launch Launch files, scripts and initialization tools. (auto-assigned) component:system System design and integration. (auto-assigned) labels Dec 27, 2022

kyoichi-sugahara added 5 commits December 28, 2022 08:25

define self_odometry as ConstPointer

7520f2b

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

tf to topic in obstacle avoidance planner

86497e7

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

tf to topic in obstacle velocity limiter node

0ddb062

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

tf to topic in obstacle velocity limiter node

0610636

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge remote-tracking branch 'mine/main' into refactor/TF_to_topic

ca9523c

kyoichi-sugahara requested a review from zulfaqar-azmi-t4 as a code owner January 11, 2023 00:20

TakaHoribe reviewed Jan 11, 2023

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planning/behavior_path_planner/src/behavior_path_planner_node.cpp Outdated Show resolved Hide resolved

delete unnecessary unlock

bf26f24

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

TakaHoribe self-requested a review January 11, 2023 02:48

TakaHoribe approved these changes Jan 11, 2023

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taikitanaka3 approved these changes Jan 12, 2023

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kyoichi-sugahara changed the title ~~refactor: ego's position sorce change from tf to topic in planning/control module~~ refactor: ego's position source change from tf to topic in planning/control module Jan 12, 2023

kyoichi-sugahara added 14 commits January 12, 2023 15:09

Merge branch 'autowarefoundation:main' into refactor/TF_to_topic

b52d15e

Merge branch 'main' into refactor/TF_to_topic

70258d0

Merge remote-tracking branch 'mine/main' into refactor/TF_to_topic

83b0d98

fix builf error

06d0866

Merge branch 'main' into refactor/TF_to_topic

ab32ecf

Merge branch 'autowarefoundation:main' into refactor/TF_to_topic

69ac79d

fix bug

3c7aad0

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'main' into refactor/TF_to_topic

de54269

Merge remote-tracking branch 'upstream/main' into refactor/TF_to_topic

56824c6

self_pose to self_odometry in lanechange module

be57d34

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

fix small bug

97fdb56

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Update node.cpp

dddff0e

Merge branch 'main' into refactor/TF_to_topic

8fa01c0

Merge branch 'main' into refactor/TF_to_topic

1e192a4

soblin approved these changes Jan 24, 2023

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TakaHoribe merged commit 60d76c1 into autowarefoundation:main Jan 24, 2023

tier4-autoware-public-bot bot mentioned this pull request Jan 25, 2023

chore: sync upstream tier4/autoware.universe#254

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kyoichi-sugahara deleted the refactor/TF_to_topic branch April 15, 2023 03:23

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refactor: ego's position source change from tf to topic in planning/control module #2530

refactor: ego's position source change from tf to topic in planning/control module #2530

kyoichi-sugahara commented Dec 20, 2022 •

edited by TakaHoribe

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TomohitoAndo commented Jan 12, 2023

refactor: ego's position source change from tf to topic in planning/control module #2530

refactor: ego's position source change from tf to topic in planning/control module #2530

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TomohitoAndo commented Jan 12, 2023

kyoichi-sugahara commented Dec 20, 2022 •

edited by TakaHoribe

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codecov bot commented Dec 20, 2022 •

edited

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