feat(simple_plannign_simulator): add map acc model #5688

kosuke55 · 2023-11-27T02:49:37Z

Description

add simulator model with acceleration_map.

acceleration_map shows the acceleration command on the vertical axis and the current velocity on the horizontal axis, with each cell representing the converted acceleration command that is actually used in the simulator's motion calculation. Values in between are linearly interpolated.

Tests performed

psim

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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github-actions · 2023-11-28T04:34:43Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-5688/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-5688/simulator/simple_planning_simulator/

TakaHoribe · 2023-11-28T04:26:57Z

simulator/simple_planning_simulator/package.xml

@@ -21,6 +23,7 @@
  <depend>lanelet2_extension</depend>
  <depend>motion_utils</depend>
  <depend>nav_msgs</depend>
+  <depend>raw_vehicle_cmd_converter</depend>


I feet it is too much to depend on the raw_vehicle_cmd_converter only for the csv_loader. Would you have the code in the vehicle model file?

add csv_loader in simple planning simulator utils

2558a4b

better to make common in other PR!

vehicle/raw_vehicle_cmd_converter/src/csv_loader.cpp

...tor/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp

simulator/simple_planning_simulator/README.md

codecov · 2023-11-28T05:54:22Z

Codecov Report

Attention: 185 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (9739cca) 48.11%.
Report is 94 commits behind head on main.

❗ Current head 9739cca differs from pull request most recent head b33d9e5. Consider uploading reports for the commit b33d9e5 to get more accurate results

Files	Patch %	Lines
...cle_model/sim_model_delay_steer_map_acc_geared.cpp	0.00%	99 Missing ⚠️
...src/simple_planning_simulator/utils/csv_loader.cpp	0.00%	57 Missing ⚠️
...cle_model/sim_model_delay_steer_map_acc_geared.hpp	0.00%	16 Missing ⚠️
...nning_simulator/simple_planning_simulator_core.cpp	14.28%	10 Missing and 2 partials ⚠️
...ude/simple_planning_simulator/utils/csv_loader.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5688       +/-   ##
===========================================
+ Coverage   15.32%   48.11%   +32.78%     
===========================================
  Files        1721       21     -1700     
  Lines      118559     1112   -117447     
  Branches    37995      414    -37581     
===========================================
- Hits        18169      535    -17634     
+ Misses      79657      310    -79347     
+ Partials    20733      267    -20466

Flag	Coverage Δ
differential	`48.11% <1.06%> (?)`
total	`?`

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

kosuke55 · 2023-11-28T16:39:14Z

@TakaHoribe thanks for your review! I updated from your comment!

TakaHoribe

LGTM

...mulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp

simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp

simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

rename and format read acc map path from config Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

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

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

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

…mulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

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

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

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

…tor/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

…mulator/utils/csv_loader.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

…tor/utils/csv_loader.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

…n#5688) * (simple_planning_simulator):add delay converter model Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * refactoring rename and format read acc map path from config Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update docs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * remove noisy print Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update map Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix pre-commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update acc map Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix pre-commit and typo Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> typo typo * Update simulator/simple_planning_simulator/README.md Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update simulator/simple_planning_simulator/README.md Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update simulator/simple_planning_simulator/README.md Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update error message Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * simplify map exmaple Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * use double Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * style(pre-commit): autofix * Update simulator/simple_planning_simulator/README.md Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add csv loader im sim pacakges Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * revert raw vehicle cmd converter Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Takumi Ito <takumi.ito@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

kosuke55 requested review from TakaHoribe and tkimura4 as code owners November 27, 2023 02:49

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) labels Nov 27, 2023

kosuke55 force-pushed the feat/vehicle_converter_model branch 2 times, most recently from 31b1665 to fb931e9 Compare November 27, 2023 09:07

kosuke55 requested review from mkuri and taikitanaka3 as code owners November 27, 2023 09:30

github-actions bot added the component:vehicle Vehicle-specific implementations, drivers, packages. (auto-assigned) label Nov 27, 2023

kosuke55 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Nov 28, 2023

kosuke55 assigned mkuri and TakaHoribe Nov 28, 2023

kosuke55 force-pushed the feat/vehicle_converter_model branch 4 times, most recently from 6b995fc to caf5f58 Compare November 28, 2023 03:39

TakaHoribe added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Nov 28, 2023

TakaHoribe reviewed Nov 28, 2023

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kosuke55 force-pushed the feat/vehicle_converter_model branch 3 times, most recently from 06349d3 to eeca004 Compare November 28, 2023 05:35

TakaHoribe reviewed Nov 28, 2023

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github-actions bot removed the component:vehicle Vehicle-specific implementations, drivers, packages. (auto-assigned) label Nov 28, 2023

TakaHoribe approved these changes Nov 29, 2023

View reviewed changes

Takumi Ito and others added 2 commits November 29, 2023 18:45

(simple_planning_simulator):add delay converter model

c438f2a

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

refactoring

cc93c19

rename and format read acc map path from config Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

kosuke55 and others added 20 commits November 29, 2023 18:45

update docs

2af9982

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

remove noisy print

424f5e0

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

update map

d725254

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

fix pre-commit

245be70

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

update acc map

f23e15b

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

fix pre-commit and typo

83f4966

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

Update simulator/simple_planning_simulator/README.md

4836f8b

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Update simulator/simple_planning_simulator/README.md

bb72d05

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Update simulator/simple_planning_simulator/README.md

f7c34fb

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Update simulator/simple_planning_simulator/include/simple_planning_si…

3d9fb32

…mulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

update error message

289c13e

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

simplify map exmaple

7a50c96

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

use double

12d5a0b

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

style(pre-commit): autofix

5db2d21

Update simulator/simple_planning_simulator/README.md

397bff1

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

add csv loader im sim pacakges

dca1fdb

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

revert raw vehicle cmd converter

96a9bd4

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

Update simulator/simple_planning_simulator/src/simple_planning_simula…

3168dea

…tor/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Update simulator/simple_planning_simulator/include/simple_planning_si…

38f2d16

…mulator/utils/csv_loader.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Update simulator/simple_planning_simulator/src/simple_planning_simula…

b33d9e5

…tor/utils/csv_loader.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

kosuke55 force-pushed the feat/vehicle_converter_model branch from e63da75 to b33d9e5 Compare November 29, 2023 09:45

kosuke55 merged commit e68ddf2 into main Nov 29, 2023
16 of 18 checks passed

kosuke55 deleted the feat/vehicle_converter_model branch November 29, 2023 12:12

tier4-autoware-public-bot bot mentioned this pull request Dec 6, 2023

chore: sync upstream tier4/autoware.universe#1059

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feat(simple_plannign_simulator): add map acc model #5688

feat(simple_plannign_simulator): add map acc model #5688

kosuke55 commented Nov 27, 2023 •

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feat(simple_plannign_simulator): add map acc model #5688

feat(simple_plannign_simulator): add map acc model #5688

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kosuke55 commented Nov 27, 2023 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

github-actions bot commented Nov 28, 2023

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kosuke55 commented Nov 27, 2023 •

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