fix(behavior_velocity): fix interpolation add missing last point #501

taikitanaka3 · 2022-03-09T07:27:08Z

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

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#500

Description(required)

add missing last point of spline interpolation of planning util

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after

Review Procedure(required)

launch psim and see path interpolation with psim
To visualize interpolated path set occlusion spot param method: "occupancy_grid" and enable flag

@takayuki5168
can you take a look at this?

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

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp

planning/behavior_velocity_planner/src/utilization/path_utilization.cpp

codecov · 2022-03-09T08:00:38Z

Codecov Report

Merging #501 (56fd4ad) into main (5c9302d) will decrease coverage by 4.76%.
The diff coverage is 0.00%.

@@            Coverage Diff            @@
##             main    #501      +/-   ##
=========================================
- Coverage   10.94%   6.17%   -4.77%     
=========================================
  Files         704      70     -634     
  Lines       49690    4952   -44738     
  Branches     6655     672    -5983     
=========================================
- Hits         5440     306    -5134     
+ Misses      39888    4502   -35386     
+ Partials     4362     144    -4218

Impacted Files	Coverage Δ
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	`10.00% <0.00%> (ø)`
...ocity_planner/src/utilization/path_utilization.cpp	`0.00% <0.00%> (ø)`
..._cluster_fusion/src/roi_cluster_fusion_nodelet.cpp
...dummy_infrastructure/dummy_infrastructure_node.hpp
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp
...autoware_auto_geometry/test/src/test_common_2d.cpp
common/had_map_utils/src/had_map_query.cpp
...stance_calculator/src/path_distance_calculator.cpp
localization/ndt/include/ndt/impl/pcl_modified.hpp
...nd_segmentation/src/scan_ground_filter_nodelet.cpp
... and 627 more

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planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp

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

taikitanaka3 · 2022-03-10T02:03:51Z

release note

…lated-last-point

takayuki5168

LGTM

* release v0.4.0 * Avoid setting CMAKE_BUILD_TYPE=Release in each CMakeLists.txt (autowarefoundation#720) * remove set CMAKE_BUILD_TYPE Release in each CMakeLists.txt * remove set CMAKE_BUILD_TYPE Release in ndt_pcl_modified * set compile options for debug in ndt_omp * Fix indent * add warning if -DCMAKE_BUILD_TYPE=Release is not set in ndt_omp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit f29c914. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Rename launch files to launch.xml (autowarefoundation#28) * Port ekf_localizer (#16) * Ported ekf_localizer to ROS 2 * Ported ekf_localizer to ROS 2, but disabled them * Update launch file * Use ::SharedPtr where available * Replace deprecated Float64 with Float64Stamped from autoware_debug_msgs * Install launch file * Added stamps * fix duration unit for RCLCPP_*_THROTTLE (autowarefoundation#75) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Rename h files to hpp (autowarefoundation#142) * Change includes * Rename files * Adjustments to make things compile * Other packages * Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143) * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs * [ekf_localizer] [pose_initializer] fix topic message type (autowarefoundation#176) Co-authored-by: Autoware <autoware@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * adding linters to ekf_localizer (autowarefoundation#194) * add initialization for roll&pitch, remove condition in launch (autowarefoundation#209) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix units of time objects (autowarefoundation#195) * fix units of time objects Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix tests Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix test Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * apply env_var to use_sim_time (autowarefoundation#222) * Ros2 v0.8.0 ekf localizer (autowarefoundation#270) * restore file name for v0.8.0 update Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix typos in localization (autowarefoundation#890) * move kalman filter to lib package (autowarefoundation#1141) * move kalman filter to lib package * add kalman_filter dir * Revert "restore file name for v0.8.0 update" This reverts commit 485111da0aba91eeddda77e1e3b6b3f517373163. Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Unify Apache-2.0 license name (autowarefoundation#1242) * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * update ekf readme (add reference) (autowarefoundation#1382) (autowarefoundation#1383) * update ekf readme (add reference) (autowarefoundation#1382) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Add pre-commit (autowarefoundation#1560) * add pre-commit * add pre-commit-config * add additional settings for private repository * use default pre-commit-config * update pre-commit setting * Ignore whitespace for line breaks in markdown * Update .github/workflows/pre-commit.yml Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * exclude svg * remove pretty-format-json * add double-quote-string-fixer * consider COLCON_IGNORE file when seaching modified package * format file * pre-commit fixes * Update pre-commit.yml * Update .pre-commit-config.yaml Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: pre-commit <pre-commit@example.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Add markdownlint and prettier (autowarefoundation#1661) * Add markdownlint and prettier Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wunused-parameter (autowarefoundation#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix spell * Fix lint issues Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore flake8 warnings Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> * fix some typos (autowarefoundation#1941) * fix some typos * fix typo * Fix typo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Feature/add stop filter ros2 (autowarefoundation#1575) * add sort-package-xml hook in pre-commit (autowarefoundation#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * add createQuaternionFromYaw (autowarefoundation#2120) * add createQuaternionFromYaw * add test * change return value type of createQuaternionFromRPY from tf2::quat to geomety_msgs::msg::quat * use geometry_msgs::msg::Quaternion in createQuaternionFromRPY in application * [ekf_localizer] use autoware utils (autowarefoundation#2314) * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply Black Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add nav_msgs::msg::Odometry and publish odometry topic to ekf_localizer (autowarefoundation#501) * publish odometry * remove COLCON IGNORE * fixed typo * fixed order in package.xml * add odom name * fixed frame id * pre commit * subscribe odometry msg in stop filter package (autowarefoundation#520) * remove COLCON IGNORE * use nav_msgs::msg::Odometry * publish stop filter odometry * Create README.md for stop_filter (autowarefoundation#583) * add odom topic to README (autowarefoundation#582) * [stop filter] remove twist publisher (autowarefoundation#586) * remove twist publisher * remove twist publisher in README * remove topic remap from launch file (autowarefoundation#703) * [ekf_localizer] remove input pose and twist topic (autowarefoundation#707) * remove input pose and twist topic * fixed README * pre-commit * remove unused parameter Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Daichi Murakami <harihitode@gmail.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Esteve Fernandez <esteve@apache.org> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Autoware <autoware@tier4.jp> Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit <pre-commit@example.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: RyuYamamoto <ryu.yamamoto@tier4.jp> Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>

* fix(behavior_velocity): fix interpolation add missing last point Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix(behavior_velocity): add missing last point of clipped path Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): make implementation simpler Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>

…r4#501) * fix(behavior_velocity): fix interpolation add missing last point Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix(behavior_velocity): add missing last point of clipped path Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): make implementation simpler Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>

…on#501) * fix(bus_stop): create virtual wall at the stop line Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

…#501) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* chore: update ecu_system_setup hash for mot * update hash

taikitanaka3 requested review from tkimura4 and takayuki5168 March 9, 2022 07:27

fix(behavior_velocity): fix interpolation add missing last point

1aa047b

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

taikitanaka3 force-pushed the 500-fix-behavior-velocity-add-missing-intepolated-last-point branch from 25b9fad to 1aa047b Compare March 9, 2022 07:31

fix(behavior_velocity): add missing last point of clipped path

ac3c150

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

taikitanaka3 marked this pull request as ready for review March 9, 2022 07:46

taikitanaka3 commented Mar 9, 2022

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planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp Outdated Show resolved Hide resolved

taikitanaka3 commented Mar 9, 2022

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planning/behavior_velocity_planner/src/utilization/path_utilization.cpp Show resolved Hide resolved

takayuki5168 reviewed Mar 9, 2022

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planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp Outdated Show resolved Hide resolved

chore(behavior_velocity): make implementation simpler

3bcee0b

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

Merge branch 'main' into 500-fix-behavior-velocity-add-missing-intepo…

56fd4ad

…lated-last-point

takayuki5168 self-requested a review March 10, 2022 03:23

takayuki5168 approved these changes Mar 10, 2022

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taikitanaka3 enabled auto-merge (squash) March 10, 2022 03:49

taikitanaka3 merged commit 5dbea48 into autowarefoundation:main Mar 10, 2022

tier4-autoware-public-bot bot mentioned this pull request Mar 11, 2022

chore: sync upstream tier4/autoware.universe#20

Merged

taikitanaka3 deleted the 500-fix-behavior-velocity-add-missing-intepolated-last-point branch March 16, 2022 00:18

taikitanaka3 mentioned this pull request May 20, 2022

feat(map_loader): visualize center line by points #931

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4 tasks

keiota pushed a commit to keiota/autoware.universe that referenced this pull request Aug 17, 2023

feat(lane_change): remove an unused parameter (autowarefoundation#501)

ec2fd76

kyoichi-sugahara pushed a commit that referenced this pull request Sep 16, 2023

fix: add autoware_msgs and remove tier4_autoware_msgs main for rosdep (…

6c02629

…#501) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

HansOersted pushed a commit to HansOersted/autoware.universe that referenced this pull request Mar 8, 2024

chore: update ecu_system_setup hash for mot (autowarefoundation#501)

ddc4d91

* chore: update ecu_system_setup hash for mot * update hash

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fix(behavior_velocity): fix interpolation add missing last point #501

fix(behavior_velocity): fix interpolation add missing last point #501

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fix(behavior_velocity): fix interpolation add missing last point #501

fix(behavior_velocity): fix interpolation add missing last point #501

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