feat(behavior_path_planner): pull over freespace parking #2879

kosuke55 · 2023-02-13T17:21:58Z

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

Description

Add freespace parking to pull over module.
When the ego-vehicle is stuck with lane parking, execute feespace parking.

freespace_pull_over-2023-02-13_22.45.17.mp4

freespace_pull_over-2023-02-14_02.15.45.mp4

Tests performed

psim

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codecov · 2023-02-14T06:07:43Z

Codecov Report

Patch coverage: 0.26% and project coverage change: -0.87 ⚠️

Comparison is base (9dd2100) 12.79% compared to head (a5f0dd1) 11.92%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2879      +/-   ##
==========================================
- Coverage   12.79%   11.92%   -0.87%     
==========================================
  Files        1214     1318     +104     
  Lines       85648    91779    +6131     
  Branches    24281    24447     +166     
==========================================
- Hits        10959    10948      -11     
- Misses      63336    69480    +6144     
+ Partials    11353    11351       -2

Flag	Coverage Δ		*Carryforward flag
differential	`11.85% <0.26%> (?)`
total	`11.97% <ø> (-0.82%)`	⬇️	Carriedforward from 6f0508e

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

Impacted Files	Coverage Δ
...havior_path_planner/behavior_path_planner_node.hpp	`0.00% <ø> (ø)`
...ner/include/behavior_path_planner/data_manager.hpp	`21.42% <ø> (ø)`
...lanner/scene_module/pull_over/pull_over_module.hpp	`0.00% <ø> (ø)`
...ath_planner/util/pull_over/freespace_pull_over.hpp	`0.00% <0.00%> (ø)`
..._planner/util/pull_over/pull_over_planner_base.hpp	`0.00% <ø> (ø)`
...lanner/include/behavior_path_planner/utilities.hpp	`23.80% <ø> (ø)`
...or_path_planner/src/behavior_path_planner_node.cpp	`0.14% <0.00%> (-0.01%)`	⬇️
...nning/behavior_path_planner/src/path_utilities.cpp	`0.00% <0.00%> (ø)`
...er/src/scene_module/pull_over/pull_over_module.cpp	`0.00% <0.00%> (ø)`
...planner/src/util/pull_over/freespace_pull_over.cpp	`0.00% <0.00%> (ø)`
... and 113 more

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

TakaHoribe · 2023-02-24T04:14:46Z

I'll check this

TakaHoribe · 2023-02-24T04:28:43Z

launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py

@@ -62,7 +62,7 @@ def launch_setup(context, *args, **kwargs):
                        "vehicle_frame": "base_link",
                        "map_frame": "map",
                        "update_rate": 10.0,
-                        "activate_by_scenario": True,
+                        "activate_by_scenario": False,


To me. Check this later.

planning/behavior_path_planner/README.md

...avior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp

planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp

planning/behavior_path_planner/src/path_utilities.cpp

planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp

...avior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp

…cene_module/pull_over/pull_over_module.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

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

planning/behavior_path_planner/README.md

kosuke55 · 2023-02-24T13:20:08Z

docs is updated in #2948

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

…ndation#2879) * feat(behavior_path_planner): pull over freespace parking Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix from review Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add require_increment_ explanation make the function Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update planning/behavior_path_planner/README.md * fix mutex Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix typo Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix build Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * pre-commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

kosuke55 requested review from TakaHoribe, takayuki5168, purewater0901, a team, rej55, satoshi-ota, shmpwk, taikitanaka3, tkimura4, zulfaqar-azmi-t4, kyoichi-sugahara, mkuri, soblin and TomohitoAndo as code owners February 13, 2023 17:21

github-actions bot added component:launch Launch files, scripts and initialization tools. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Feb 13, 2023

kosuke55 mentioned this pull request Feb 14, 2023

feat(behavior_path_planner): add pull over free space parking tier4/autoware_launch-old#771

Closed

8 tasks

kosuke55 force-pushed the feat/pull_over_free_space branch 3 times, most recently from 6ed648f to 1e1d2da Compare February 14, 2023 05:28

kosuke55 force-pushed the feat/pull_over_free_space branch from 1e1d2da to 708310e Compare February 20, 2023 11:16

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Feb 20, 2023

kosuke55 force-pushed the feat/pull_over_free_space branch from 708310e to b5bd45a Compare February 20, 2023 11:30

mitsudome-r added the reviewer assigned label Feb 21, 2023

kosuke55 mentioned this pull request Feb 22, 2023

feat(behavior_path_planner): pull over freespace parking autowarefoundation/autoware_launch#221

Merged

7 tasks

kosuke55 force-pushed the feat/pull_over_free_space branch from b5bd45a to f768c20 Compare February 23, 2023 23:58

feat(behavior_path_planner): pull over freespace parking

86f2476

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

kosuke55 force-pushed the feat/pull_over_free_space branch from f768c20 to 86f2476 Compare February 24, 2023 00:04

TakaHoribe reviewed Feb 24, 2023

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kosuke55 and others added 3 commits February 24, 2023 17:36

Update planning/behavior_path_planner/include/behavior_path_planner/s…

9b6c2f8

…cene_module/pull_over/pull_over_module.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

fix from review

e5f3bea

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

add require_increment_ explanation make the function

3a74de4

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

kosuke55 mentioned this pull request Feb 24, 2023

docs(behavior_path_planner): add pull over out separated docs and update them for freespace #2948

Merged

7 tasks

kosuke55 added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Feb 24, 2023

kosuke55 commented Feb 24, 2023

View reviewed changes

planning/behavior_path_planner/README.md Outdated Show resolved Hide resolved

Update planning/behavior_path_planner/README.md

4be8299

github-actions bot removed the type:documentation Creating or refining documentation. (auto-assigned) label Feb 24, 2023

autowarefoundation deleted a comment from github-actions bot Feb 24, 2023

kosuke55 removed the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Feb 24, 2023

kosuke55 added 2 commits February 25, 2023 00:47

fix mutex

4221173

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

Merge remote-tracking branch 'awf/main' into feat/pull_over_free_space

dce183a

TakaHoribe self-requested a review March 3, 2023 05:38

TakaHoribe approved these changes Mar 3, 2023

View reviewed changes

kosuke55 added 5 commits March 3, 2023 21:09

Merge remote-tracking branch 'awf/main' into feat/pull_over_free_space

7754e72

fix typo

c177d85

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

Merge remote-tracking branch 'awf/main' into feat/pull_over_free_space

0602e8e

fix build

6f0508e

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

pre-commit

a5f0dd1

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

kosuke55 merged commit 5f8f448 into autowarefoundation:main Mar 3, 2023

kosuke55 deleted the feat/pull_over_free_space branch March 3, 2023 16:25

tier4-autoware-public-bot bot mentioned this pull request Mar 4, 2023

chore: sync upstream tier4/autoware.universe#295

Merged

kosuke55 mentioned this pull request Jun 19, 2023

PullOver/Out limitation and development plan #3223

Closed

3 tasks

kosuke55 mentioned this pull request Nov 30, 2023

refactor(costmap_generator): rework parameters #4695

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feat(behavior_path_planner): pull over freespace parking #2879

feat(behavior_path_planner): pull over freespace parking #2879

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feat(behavior_path_planner): pull over freespace parking #2879

feat(behavior_path_planner): pull over freespace parking #2879

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kosuke55 commented Feb 13, 2023 • edited Loading

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