feat(mission_planner): add reroute interface for mrm #3299

isamu-takagi · 2023-04-06T11:31:01Z

Description

Add reroute interface for mrm.
autowarefoundation/autoware#3406

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Not applicable.

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

codecov · 2023-04-06T12:10:48Z

Codecov Report

Patch coverage has no change and project coverage change: -0.72 ⚠️

Comparison is base (1d1fcac) 13.25% compared to head (aa320bc) 12.54%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3299      +/-   ##
==========================================
- Coverage   13.25%   12.54%   -0.72%     
==========================================
  Files        1384     1366      -18     
  Lines       97016    94639    -2377     
  Branches    28212    26769    -1443     
==========================================
- Hits        12857    11868     -989     
+ Misses      70351    70234     -117     
+ Partials    13808    12537    -1271

Flag	Coverage Δ		*Carryforward flag
differential	`20.50% <0.00%> (?)`
total	`12.54% <ø> (-0.71%)`	⬇️	Carriedforward from 0d0442e

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

Impacted Files	Coverage Δ
...on_planner/src/mission_planner/mission_planner.cpp	`0.00% <0.00%> (ø)`

... and 193 files with indirect coverage changes

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kosuke55 · 2023-04-10T01:35:13Z

planning/mission_planner/README.md

+| `/planning/routing/clear_route`      | autoware_adapi_v1_msgs/srv/ClearRoute             | route clear request               |
+| `/planning/routing/set_route_points` | autoware_adapi_v1_msgs/srv/SetRoutePoints         | route request with pose waypoints |
+| `/planning/routing/set_route`        | autoware_planning_msgs/srv/SetRoute               | route request with HAD map format |
+| `~/srv/set_mrm`                      | autoware_planning_msgs/srv/SetPoseWithUuidStamped | set emergency route               |


Done 9d8573f.

planning/mission_planner/include/mission_planner/mission_planner_interface.hpp

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

kosuke55 · 2023-04-11T08:13:47Z

planning/mission_planner/README.md

+| `/planning/routing/clear_route`      | autoware_adapi_v1_msgs/srv/ClearRoute             | route clear request               |
+| `/planning/routing/set_route_points` | autoware_adapi_v1_msgs/srv/SetRoutePoints         | route request with pose waypoints |
+| `/planning/routing/set_route`        | autoware_planning_msgs/srv/SetRoute               | route request with HAD map format |
+| `~/srv/set_mrm_goal`                 | autoware_planning_msgs/srv/SetPoseWithUuidStamped | set emergency route               |


mrm_goal is good for me since currently only one goal is sent for rerouting, but would you prefer mrm_route?

@isamu-takagi how about this?:pray: I saw the comment (tier4 internal link)

Sorry for late reply. I renamed them 4605211.

ok, thanks
just a comment, that the name is mrm_route but the type is PoseWithUuidStamped is a little confusing, but it's ok for me.

~~Renamed autowarefoundation/autoware_msgs#59.~~

Change service type aa320bc.

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

kosuke55 · 2023-04-17T13:13:32Z

planning/mission_planner/include/mission_planner/mission_planner_interface.hpp


 namespace mission_planner
 {

+struct SetMrmGoal


how about here? SetMrmRoute?

Thank you. Fixed it f02299e.

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

kosuke55

LGTM

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

…ion#3299) * feat(mission_planner): add reroute interface for mrm Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: fix readme Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: rename mrm interface Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: rename mrm interface Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: change route service type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Mingyu Li <mingyu.li@tier4.jp>

feat(mission_planner): add reroute interface for mrm

610e435

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

isamu-takagi requested review from mitsudome-r, TakaHoribe, takayuki5168 and a team as code owners April 6, 2023 11:31

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Apr 6, 2023

isamu-takagi self-assigned this Apr 6, 2023

This was referenced Apr 6, 2023

Add routing interface autowarefoundation/autoware#3406

Closed

feat(mission_planner): add the interface to reroute while driving #3184

Closed

isamu-takagi requested a review from yukkysaito April 6, 2023 11:34

kosuke55 reviewed Apr 10, 2023

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isamu-takagi added 2 commits April 10, 2023 15:11

feat: fix readme

9d8573f

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

Merge branch 'main' into feat/mission-planner-reroute-mrm

2053a14

isamu-takagi requested a review from purewater0901 as a code owner April 10, 2023 06:25

kosuke55 reviewed Apr 11, 2023

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kosuke55 mentioned this pull request Apr 11, 2023

docs(mission_planner): add rerouting description #3356

Merged

7 tasks

isamu-takagi added 2 commits April 17, 2023 16:08

feat: rename mrm interface

4605211

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

Merge branch 'main' into feat/mission-planner-reroute-mrm

0d0442e

kosuke55 reviewed Apr 17, 2023

View reviewed changes

feat: rename mrm interface

f02299e

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

kosuke55 approved these changes Apr 18, 2023

View reviewed changes

isamu-takagi mentioned this pull request Apr 18, 2023

feat(autoware_planning_msgs): remove SetPoseWithUuidStamped autowarefoundation/autoware_msgs#59

Merged

4 tasks

kosuke55 self-requested a review April 18, 2023 02:50

feat: change route service type

aa320bc

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

kosuke55 approved these changes Apr 18, 2023

View reviewed changes

kosuke55 merged commit cab563a into autowarefoundation:main Apr 18, 2023

isamu-takagi deleted the feat/mission-planner-reroute-mrm branch April 18, 2023 07:19

tier4-autoware-public-bot bot mentioned this pull request Apr 19, 2023

chore: sync upstream tier4/autoware.universe#366

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feat(mission_planner): add reroute interface for mrm #3299

feat(mission_planner): add reroute interface for mrm #3299

isamu-takagi commented Apr 6, 2023 •

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	\| `~/srv/set_mrm` \| autoware_planning_msgs/srv/SetPoseWithUuidStamped \| set emergency route \|
	\| `~/srv/set_mrm_goal` \| autoware_planning_msgs/srv/SetPoseWithUuidStamped \| set emergency route \|

feat(mission_planner): add reroute interface for mrm #3299

feat(mission_planner): add reroute interface for mrm #3299

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isamu-takagi commented Apr 6, 2023 • edited Loading

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isamu-takagi commented Apr 6, 2023 •

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