feat(costmap_generator): activate by location #692

HiroIshida · 2022-04-13T14:07:54Z

Description

This PR enables activation of costmap generator by ego vehicle location. activation by location or activation by scenario can be selected by rosparam. The motivation is as follows.

Originally, costamp generator is activated when the scenario is parking. However, there exists cases that does not fit in to the former activation criterion. For example in automated parking task, a vehicle must cruise around the lanes inside a parking lot in a lane driving phase, then find a vacant parking space. In such case, costmap generator must be activated even when lane driving scenario.

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Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

codecov · 2022-04-13T14:22:43Z

Codecov Report

Merging #692 (792d364) into main (23cb41a) will decrease coverage by 0.02%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main     #692      +/-   ##
==========================================
- Coverage   10.59%   10.56%   -0.03%     
==========================================
  Files         735      735              
  Lines       51761    51880     +119     
  Branches     6596     6596              
==========================================
  Hits         5482     5482              
- Misses      41819    41938     +119     
  Partials     4460     4460

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`10.59% <0.00%> (ø)`		Carriedforward from 23cb41a

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

Impacted Files	Coverage Δ
...nodes/costmap_generator/costmap_generator_node.cpp	`0.00% <0.00%> (ø)`

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planning/costmap_generator/README.md

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

yukkysaito · 2022-04-20T01:24:25Z

I confirmed to work
LGTM

* release v0.4.0 * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit a2dc52036f5950188b5b4caedb2edcd36d3e5860. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * ROS2 Porting: raw_vehicle_cmd_converter (autowarefoundation#9) * remove dependency to unused std_msgs package Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * rm COLCON_IGNORE Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * port raw_vehicle_cmd_converter to ROS2 Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * port raw_vehicle_cmd_converter.launch to ROS2 Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix typo Co-authored-by: Frederik Beaujean <72439809+fred-apex-ai@users.noreply.github.com> * fix typo Co-authored-by: Frederik Beaujean <72439809+fred-apex-ai@users.noreply.github.com> * remove include_directories form CMakeLists.txt Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix order of includes Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add missing comments Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Frederik Beaujean <72439809+fred-apex-ai@users.noreply.github.com> * 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 * ROS2 Linting: raw_vehicle_cmd_converter (autowarefoundation#161) * Add linters * Process linter corrections * apply env_var to use_sim_time (autowarefoundation#222) * Ros2 v0.8.0 raw vehicle cmd converter (autowarefoundation#268) * restore raw_vehicle_cmd_converter files for 0.8.0 update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typos in vehicle modules (autowarefoundation#954) * add get func (autowarefoundation#1088) * Revert "restore raw_vehicle_cmd_converter files for 0.8.0 update" This reverts commit f243f26e20490757a332566aa92196553a682aa6. Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * update target branch for ci (autowarefoundation#309) * update target branch for ci Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [as]: Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [latlon_muxer]: Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [map_based_prediction]: Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [raw_vehicle_cmd_converter]: Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [remote_cmd_converter]: Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [turn_signal_decider]: Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * 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> * add plot_accel_brake_map.py (autowarefoundation#1249) (autowarefoundation#1296) * add plot_accel_brake_map.py (autowarefoundation#1249) * add plot_accel_brake_map.py * call plotter from rosrun * add permission Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * delete debug message * Add license Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * apply format * fix code Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> * Fix lint errors (autowarefoundation#1378) * Fix lint errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix variable names Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * enable to designate directory of maps (autowarefoundation#1301) (autowarefoundation#1480) * enable to designate directory of maps * add error handling * use argparser Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> * 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> * 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 * Feature/vehicle interface improvements (autowarefoundation#1361) (autowarefoundation#1688) * Feature/vehicle interface improvements (autowarefoundation#1361) * add vehicle msg * add pacmod interface * add eps controller * use each control commands instead of vehicle command * fixed details * fixed speell check * const * fixed brake status * publish cmd when recieving ctrl cmd * fix shift cmd ptr * remove unused function and set proper license * fix names * fix typo for pacmod * remove unnecessary waiting * use flags, limit, multiarray * remove accel brake dependency * fix retrun value * replace eps to steer * cosmetic change for namespace * fix segfo and retval * Use Enum instead of int * remove unused var * add const * rename to calcFFMap * prev time steer calc * add sample csv * add new line Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix build failure for remote cmd converter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * replace to vehicle cmd emergency (autowarefoundation#1710) (autowarefoundation#1717) * Fix subscriber topic type Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix rclcpp::Time initialization Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * default debug value false in raw vehicle cmd converter (autowarefoundation#1755) * default debug value false in raw vehicle cmd converter * spell check * 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> * [raw vehicle cmd converter] apply autoware auto msgs (autowarefoundation#519) * remove ignore * replace to autoware auto control message * use localization odometry * apply steering report * appluy clang format * cosmetic change * fix spell check * update to readme * update launch * minor fix * precommit fix * update README.md Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * using AckermannControlCommand * fix format Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * move cmd converters to control pkg (autowarefoundation#642) * auto/revert cmd converter (autowarefoundation#680) * Revert "move cmd converters to control pkg (autowarefoundation#642)" This reverts commit 19a10f9419aa25ef7a37e51c5df8f65b75cf8887. * fix topic * Auto/readme cmd converter (autowarefoundation#692) * fix format * add readme external cmd converter * fix lint * fiix sentence Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix format Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix sentence Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * better expression Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix door cmd topic (autowarefoundation#711) * fix door cmd topic * fix topic Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Frederik Beaujean <72439809+fred-apex-ai@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@gmail.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Keisuke Shima <keisuke.shima@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

* Add autoware api (autowarefoundation#1979) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Use EmergencyState instead of deprecated EmergencyMode (autowarefoundation#2030) * Use EmergencyState instead of deprecated EmergencyMode Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use stamped type Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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 Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add selected external command API (autowarefoundation#2053) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/vehicle interface improvements (autowarefoundation#1361) (autowarefoundation#1688) * Feature/vehicle interface improvements (autowarefoundation#1361) * add vehicle msg * add pacmod interface * add eps controller * use each control commands instead of vehicle command * fixed details * fixed speell check * const * fixed brake status * publish cmd when recieving ctrl cmd * fix shift cmd ptr * remove unused function and set proper license * fix names * fix typo for pacmod * remove unnecessary waiting * use flags, limit, multiarray * remove accel brake dependency * fix retrun value * replace eps to steer * cosmetic change for namespace * fix segfo and retval * Use Enum instead of int * remove unused var * add const * rename to calcFFMap * prev time steer calc * add sample csv * add new line Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix build failure for remote cmd converter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * replace to vehicle cmd emergency (autowarefoundation#1710) (autowarefoundation#1717) * Fix subscriber topic type Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix rclcpp::Time initialization Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * [external_cmd_converter] apply autoware auto msgs (autowarefoundation#535) * remove ignore * apply auto msgs * modify launch * topic to shift command Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * move cmd converters to control pkg (autowarefoundation#642) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * auto/revert cmd converter (autowarefoundation#680) * Revert "move cmd converters to control pkg (autowarefoundation#642)" This reverts commit aed827c4fdfa01cc7bc29e70307d5e2cbc8aa8d3. * fix topic Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix shift to gear (autowarefoundation#683) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Auto/readme cmd converter (autowarefoundation#692) * fix format * add readme external cmd converter * fix lint * fiix sentence Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix format Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix sentence Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * better expression Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

HiroIshida · 2022-04-27T23:47:43Z

@yukkysaito
Thanks for your review
I want to make another PR that depends on this PR, so it would be great if you could merge this unless I have to do some other actions before merging

yukkysaito · 2022-04-28T02:01:14Z

@HiroIshida Can you check DCO in CI?

HiroIshida · 2022-04-28T02:49:59Z

@yukkysaito
I'm sorry, I added the signed-off in the commits.

* Activate by location Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp> * Fix markdown Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…fic-light-launcher chore(traffic_light): cherry pick traffic light launcher updates

Activate by location

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Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

HiroIshida mentioned this pull request Apr 13, 2022

[WIP] Feature/autoparking HiroIshida/autoware.universe#1

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Fix markdown

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Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>

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HiroIshida force-pushed the feature/activate_by_location branch from 842d615 to e489805 Compare April 28, 2022 02:48

ci(pre-commit): autofix

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yukkysaito merged commit 5ab1962 into autowarefoundation:main Apr 28, 2022

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chore: sync upstream tier4/autoware.universe#42

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chore(tier4_planning_launch): add missing params and sort params of costmap generator #2764

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feat(behavior_path_planner): pull over freespace parking #2879

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mkuri pushed a commit to mkuri/autoware.universe that referenced this pull request Aug 8, 2023

Merge pull request autowarefoundation#692 from tier4/cherry-pick-traf…

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…fic-light-launcher chore(traffic_light): cherry pick traffic light launcher updates

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feat(costmap_generator): activate by location #692

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feat(costmap_generator): activate by location #692

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