feat(lidar_centerpoint): make lidar_centerpoint a shared library #733

yukke42 · 2022-04-20T03:53:43Z

Description

make lidar_centerpoint a shared library to be used from pointpainting
most of core parameters of centerpoint can be loaded from ros param
- some of parameters depend on the cuda implementation, so they're hard coded
refactor the directory structure (the core processes haven't changed)

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.
The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

codecov · 2022-04-20T04:02:54Z

Codecov Report

Merging #733 (c1c1acd) into main (1168f14) will decrease coverage by 0.39%.
The diff coverage is 0.00%.

❗ Current head c1c1acd differs from pull request most recent head 280bf42. Consider uploading reports for the commit 280bf42 to get more accurate results

@@           Coverage Diff            @@
##            main    #733      +/-   ##
========================================
- Coverage   9.90%   9.51%   -0.40%     
========================================
  Files        879     955      +76     
  Lines      56251   58539    +2288     
  Branches   10638   10624      -14     
========================================
- Hits        5572    5570       -2     
- Misses     45960   48250    +2290     
  Partials    4719    4719

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`9.58% <0.00%> (-0.32%)`	⬇️	Carriedforward from 76b00b5

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

Impacted Files	Coverage Δ
...t/include/lidar_centerpoint/centerpoint_config.hpp	`0.00% <0.00%> (ø)`
...oint/include/lidar_centerpoint/centerpoint_trt.hpp	`0.00% <ø> (ø)`
...nterpoint/include/lidar_centerpoint/cuda_utils.hpp	`0.00% <ø> (ø)`
...ude/lidar_centerpoint/network/tensorrt_wrapper.hpp	`0.00% <ø> (ø)`
...enterpoint/preprocess/pointcloud_densification.hpp	`0.00% <ø> (ø)`
...e/lidar_centerpoint/preprocess/voxel_generator.hpp	`0.00% <ø> (ø)`
...rception/lidar_centerpoint/lib/centerpoint_trt.cpp	`0.00% <0.00%> (ø)`
...tion/lidar_centerpoint/lib/network/network_trt.cpp	`0.00% <0.00%> (ø)`
...on/lidar_centerpoint/lib/network/scatter_kernel.cu	`0.00% <ø> (ø)`
...lidar_centerpoint/lib/network/tensorrt_wrapper.cpp	`0.00% <0.00%> (ø)`
... and 93 more

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 1168f14...280bf42. Read the comment docs.

* release v0.4.0 * add use_object_recognition flag in dummy_perception_publisher (autowarefoundation#696) * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add sample ros2 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 2e9822586a3539a32653e6bcd378715674b519ca. 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 dummy_perception_publisher to ROS2 (autowarefoundation#90) * Port dummy_perception_publisher to ROS2 * Uncrustify * Lint * Copyright * Period * Further ament_cpplint fixes * Convert calls of Duration to Duration::from_seconds where appropriate (autowarefoundation#131) * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * adding linters to dummy_perception_publisher (autowarefoundation#220) * [dummy_perception_publisher] fix launch file and installation (autowarefoundation#215) * [dummy_perception_publisher] fix launch file and installation Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Apply suggestions from code review Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * reduce terminal ouput for better error message visibility (autowarefoundation#200) * reduce terminal ouput for better error message visibility Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [costmap_generator] fix waiting for first transform 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> * modify launch file for making psim work (autowarefoundation#238) * modify launch file for making psim work Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * remove unnecesary ns Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * Ros2 v0.8.0 dummy perception publisher (autowarefoundation#286) * Remove "/" in frame_id (autowarefoundation#406) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix transform (autowarefoundation#420) * Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix canTransform Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix test Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add use_sim-time option (autowarefoundation#454) * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Diable dummy_perception_publisher if argument 'scenario_simulation' i… (autowarefoundation#1275) * Diable dummy_perception_publisher if argument 'scenario_simulation' is true * Rename argument to 'disable_dummy_perception_publisher_node' from 'scenario_simulation' * change theta step for obj point cloud (autowarefoundation#1280) * Revert changes of PR autowarefoundation#1275 (autowarefoundation#1377) * 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> * Fix dependency type of rosidl_default_generators (autowarefoundation#1801) * Fix dependency type of rosidl_default_generators Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove unnecessary depends Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use ament_cmake_auto 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 topic namespace (autowarefoundation#2054) Signed-off-by: Azumi Suzuki <azumi.suzuki@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/porting occlusion spot (autowarefoundation#1740) * Feature/occlusion_spot safety planner public road (autowarefoundation#1594) * add blind spot safety planner public road * remove duplicated procesing * remove unused private param * renaming fix typo add comments * fix spell check * velocity -> relative velocity * calc2d, To param, simplify search, To original * add the num possible collision gurd * computational cost reduction * Cosmetic change for PossibleCollisionInfo * add interpolation to possible collision value * refactor codes * fix details * invalid point gurd * To Param * refacotor to occlusion spot util * cosmetic change * clean up blindspot * To Occlusion Spot * revise readme * refactor drawing * for better explanation * fix velocity profile * clean up details * cosmetic change for debug marker * use max velocity in obstacle info instead * add gtest for Too Many Possible Collision case * change case * refactor readme * minor fix * add more occlusion spot explanation * replace svg * add gtest build path lanelet * hotfix lateral distance and searching method * update g test for lateral distance * use faster search * set more realistic param * add lanelet subtype highway * cosmetic change of reviews * add occlusion spot module in private area (autowarefoundation#1640) * add occlusion spot in private * For debugging change * add spline interpolation to path * add review changes * adding minor change * cosmetic change * Vector to retval * Blindspot To OcclusionSpot1 * To Occlusion Spot 2 * To Occlusions spot3 * update gtest with unified anchor * remove anchor * add test slice * simplify interpolation * Too Occlusion spot4 * add test buffer * To Occlusion spot * namespace gurd * correct slice and add interpolation first * handle self crossing with check for invation * to ros debug stream * removed unused interpolation * add readme to plant uml * cosmetic change * minor change * update readme * review change * change occlusion spot text color * To Offset no Throw * better debug marker * catch only inversion error * skip return in case of inversion * for better grid * simplify path lanelet at first * remove std::cout * for better path * limit ego path inside target lanelet location * remove last points * cosmetic change for markers * apply module for limited scene * fix interpolation gurd * for better params * do not includes path behind * remove dummy perception publisher * Revert "remove dummy perception publisher" This reverts commit 4acad985fe31dd9befaa21a16631495de6c3a117. * replace hard coded occupancy grid option in psim * remove respawn * add arg to params and remove redundunt launch * fix spell check * fix default value Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Feature/occlusion spot private slice size param (autowarefoundation#1703) * add min slice size * for a bit narrow lateral distance * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * Rename files Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Porting to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix launch namespace Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix parameter type Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_private_road.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * 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> * port dummy perception publisher to auto (autowarefoundation#562) * port dummy perception publisher to auto * autoware_perception_msgs/DynamicObjectWithFeatureArray convert to autoware_perception_msgs/DetectedObjectsWithFeature * change tracked objects to PREDICTED objects * separate pub type with real * Add README.md to dummy perception publisher (autowarefoundation#641) * Added readme for dummy_perception_pub * README update * README update * Fix pre-commit * fix typo * Update README.md * Update README.md * Update README.md * Modified node.cpp * Modified README.md * change parameter name * Update README.md * [shape_estimation]change type (autowarefoundation#663) * change output type of shape_estimation * remove unused function * add dynamic_object_converter * rename * fix typo * fix dummy_perception_publisher * update readme * fix copyright * rename package * add readme * fix launch name * remove unused variable * fix readme * fix convert function * change topic name of DynamicObjectsWithFeature * Fix no ground pointcloud topic name (autowarefoundation#733) Signed-off-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> * auto/fix occupancy grid name space in dummy perception publisher (autowarefoundation#739) * fix name space * change namespace: object_segmentation -> obstacle_segmentation * feat: add use_traffic_light status Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Tatsuya Yamasaki <httperror@404-notfound.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: pre-commit <pre-commit@example.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Azumi Suzuki <38061530+s-azumi@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>

* release v0.4.0 * Add map diag (autowarefoundation#688) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change default value of disengage_on_route (autowarefoundation#703) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change localization diag namespace (autowarefoundation#718) * Change default value of output_diagnostics_topic Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove localization_diagnostic.js from web_controller Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Integrate localization diag to diagnostic_aggregator Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Delete old and unused publisher Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Support error in autoware state (autowarefoundation#728) * Support Error in autoware_state_monitor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Refactor autoware_state_monitor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Wait after planning completed Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Integrate FailedToArriveGoal and Error into Emergency state Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove override after arrived goal in autoware_state_monitor (autowarefoundation#737) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Improve autoware state monitor diag (autowarefoundation#792) * Add ok_list to stats Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use key-value Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add ok_list Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 470b35a4a07baca60033f7b363dba2f4279ff9c7. 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) * [WIP] ROS2 Porting: autoware_state_monitor (autowarefoundation#81) * Fix CMake and package.xml - Remove topic_tools deps in package.xml - Fix cmake refs - Build just core without other deps * Remove colcon ignore * Convert CMake to ament_cmake_auto * Fix package.xml with correct deps - Remove topic tools * Convert yaml files to be ROS2 compliant - Previous XmlRpc was used to collect yaml array like structures - Use _configs.names string array to locate config.<name>.<field> - Will need to convert the way the parametersa are retrieved * First pass - make compile * Port headers - Change the name of arrived goal for consistency - Port state machine - Port diagnostics wrapper methods * Add subscription, publisher and timers - Add simple parameters - Add back functionality - Add topic state functionality - Add functionality * Add configuration parameter implementations * Add launch files and clean up - Remove commented code from cmake and package.xml - Remove rosconsole.h * Clean up - Remove changes to autoware_sysytem_msgs - remove comments * Added types to the launch files - Make type arrays to allow for multiple types * Add rclcpp_generic implementation for subscriptions - Add the callback method back - Include exec_depends in package.xml * Clean up - Remove boost dependencies - Remove commented out dependencies - Remove comments * 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 * Add linters and fix some clang-tidy warnings (autowarefoundation#205) * [autoware_state_monitor] fix parameter in autoware_state_monitor.planning_simulation.yaml (autowarefoundation#244) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Modify autoware state monitor (autowarefoundation#288) * comment out param config Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * fix minor issues Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * change engage from bool to control msg (autowarefoundation#292) Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * Ros2 v0.8.0 autoware state monitor (autowarefoundation#277) * Ros2 v0.8.0 engage (autowarefoundation#342) * [autoware_vehicle_msgs]: Add engage message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [as]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [awapi_awiv_adapter]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [web_controller]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [vehicle_cmd_gate]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_state_monitor]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_control_msgs]: Remove EngageMode message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [simple_planning_simulator]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix invalid exception handling (autowarefoundation#344) * remove invalid exception handling Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * remove unnecessary topics Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * Ros2 v0.8.0 fix packages (autowarefoundation#351) * add subscription to QoS * add vihicle_param _file to simple_planning_sim * update cmake/packages.xml * comment out unused parameter * apply lint * add vehicle_info_util to lane_change_planner * add vehicle_info_util to vehicle_cmd_gate * fix cmake of simple planning simulator * update cmake/packages.xml of vehicle cmd gate * apply lint * apply lint * add latch option to autoware_state_monitor * delete unused comment * fix implement miss in autoware_state_monitor * Rename ROS-related .yaml to .param.yaml (autowarefoundation#352) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove prefix 'default_' of yaml files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename diagnostic_aggregator's param files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix overlooked parameters Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ros2 v0.8.0 fix packages2 (autowarefoundation#354) * fix topic name * fix duration rate * fix sensing.yaml * fix topic name * add latch-option to autoware_state_monitor * fix timer callback * fix autoware state monitor config * fix sensing.yaml * Add parameter args to autoware_state_monitor.launch (autowarefoundation#1175) (autowarefoundation#385) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Feature/Add route cancel service (autowarefoundation#384) * Feature/Add route cancel service (autowarefoundation#1100) * Feature/Add route cancel service Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add guard Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix service name in launch Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove spin_some within service callback functions Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * apply ament_uncrustify Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * change wait time for state transition (autowarefoundation#416) * Sensor data qos (autowarefoundation#407) * Use sensor data qos for pointcloud preprocessor Signed-off-by: Autoware <autoware@tier4.jp> * Use sensor data qos for pointcloud Signed-off-by: Autoware <autoware@tier4.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use sensor data qos for livox tag filter and vector map filter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Autoware <autoware@tier4.jp> * Fix typo in system module (autowarefoundation#434) * Fix typo in system module * Change variable name * Move comments * Apply uncrustify * add use_sim-time option (autowarefoundation#454) * add missing topic to topic config list (autowarefoundation#1224) * remove pointcloud from state_monitor (autowarefoundation#1236) * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use integrated generic subscription (autowarefoundation#1342) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * suppress warnings for autoware_state_monitor (autowarefoundation#1722) * suppress warnings for autoware_state_monitor * fix style * re fix style * 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> * Sync v1.3.0 (autowarefoundation#1909) * Add elevation_map to autoware_state_monitor (autowarefoundation#1907) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Disable saving elevation map temporarily (autowarefoundation#1906) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * sync rc (autowarefoundation#1930) * Remove elevation_map from autoware_state_monitor (autowarefoundation#1922) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Use base_ref (autowarefoundation#1925) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Add autoware api (autowarefoundation#1979) * suport auto recovery on autoware_state_monitor (autowarefoundation#2006) * disable emergency check if hazard_status is not received (autowarefoundation#2024) * suppress warnings for system directory autowarefoundation#2046 * 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 * Added warning about lookupTransform failure in autoware_status_monitor (autowarefoundation#2099) * 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> * [autoware state monitor] support autoware.auto msg (autowarefoundation#521) * support autoware.auto msg * add readme * remove unused code * remove emergency state * stop to subscribe hazard_status * remove VehicleStateReport/VehicleStateCommand/VehicleControlCommand (autowarefoundation#549) * fix autoware_error_monitor * fix state monitor * fix emergency handler(vehicle_state_report) * fix emergency Handler(vehicle_state_command) * fix shift_decider * fix emergency_handler(vehicle_control_command) * fix topic name * fix readme * Update system/autoware_state_monitor/Readme.md Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix format * Update system/autoware_state_monitor/launch/autoware_state_monitor.launch.xml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix typo Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * [autowere_web_controller/autoware_state_monitor/emergency_handler]fix some packages (autowarefoundation#603) * fix vehicle_engage.js * fix autoware_state_monitor param * fix emergency_handler * oh * update autoware_state.js * [autoware_state_monitor]route -> had_map_route (autowarefoundation#635) * route -> had_map_route * Rename Readme.md to README.md Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> * Fix autoware monitors readme (autowarefoundation#629) * Fix readme of autoware_state_monitor * Fix readme of autoware_error_monitor * adapt to actuation cmd/status as control msg (autowarefoundation#646) * adapt to actuation cmd/status as control msg * fix readme * fix topics * fix remaing topics * as to pacmod interface * fix vehicle status * add header to twist * revert gyro_odometer_change * revert twist topic change * revert unchanged package * Fix topic name in autoware_state_monitor (autowarefoundation#667) * Fix no ground pointcloud topic name (autowarefoundation#733) Signed-off-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> * fix/rename segmentation namespace (autowarefoundation#742) * rename segmentation directory * fix namespace: system stack * fix namespace: planning * fix namespace: control stack * fix namespace: perception stack * fix readme Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@gmail.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@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: Autoware <autoware@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

* release v0.4.0 * fix bug(return true in getPose) (autowarefoundation#686) * Feature/stop reason (autowarefoundation#712) * add stop reason msg * add mock of stop resaon publisher * change namespace of stop reason * update stop reason msg * add toRosPoint * implement stop reason publisher of blind stop * implement stop reason publisher of crosswalk * implement stop reason publisher of intersection * implement stop reason publisher of stop line * implement stop reason publisher of trafficlight * implement stop reason publisher of detection area * fix bug * remove unnecessary process * add remained stop factor * clean code * fix bug * not punlish stop reason if array size is 0 * add stop reason to stuck object in intersection * add stop factor of obstacle stop planner * add stop reason of surround_obstacle checker * Apply review Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix message type * delete unused message from cmake * remove stopReasonStamped * change topic name of stop reasons Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix/stop reason (autowarefoundation#724) * input stop reason of traffic light * add comment * add empty traffic light handling * change calculation method of traffic light position * avoid 0 position output * Add surround obstacle state (autowarefoundation#785) * Cleanup code Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add state to surround_obstacle_checker Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Guard pushObstaclePoint for StopFactor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 623dc7f7b59bb12639c5ca768f87b8e2d24c19b7. 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) * Surround obstacle checker (autowarefoundation#64) * Port surround_obstacle_checker to ROS2 * Reviewer comment * Review comment * Fix launch files (autowarefoundation#122) * [surround_obstacle_checker] add parameter and arguments to launch file Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [obstacle_stop_planner] modify launch file to remap trajectory from argument Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [obstacle_avoidance_planner] modify launch file to remap topics from arguments Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [motion_velocity_optimizer] modify launch file to enable remapping from argument Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Convert calls of Duration to Duration::from_seconds where appropriate (autowarefoundation#131) * 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 * Fix lints in surround_obstacle_checker package (autowarefoundation#130) * Replace waitForTransform by lookupTransform in surround_obstacle_checker (autowarefoundation#212) * Fix erroneous waitForTransform in surround_obstacle_checker * Line length fix * Ros2 v0.8.0 surround obstacle checker (autowarefoundation#328) * Rename ROS-related .yaml to .param.yaml (autowarefoundation#352) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove prefix 'default_' of yaml files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename diagnostic_aggregator's param files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix overlooked parameters Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * rename vehicle_info_param to vehicle_param_file (autowarefoundation#353) Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * Sensor data qos (autowarefoundation#407) * Use sensor data qos for pointcloud preprocessor Signed-off-by: Autoware <autoware@tier4.jp> * Use sensor data qos for pointcloud Signed-off-by: Autoware <autoware@tier4.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use sensor data qos for livox tag filter and vector map filter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Autoware <autoware@tier4.jp> * Ros2 fix topic name part1 (autowarefoundation#408) * Fix topic name of lane_departure_checker debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_departure_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_stop_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of surround_obstacle_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of emergency_handler Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint errors Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix typo Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add use_sim-time option (autowarefoundation#454) * Fix rolling build errors (autowarefoundation#1225) * Add missing include files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Replace rclcpp::Duration Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use reference for exceptions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use from_seconds Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Sync public repo (autowarefoundation#1228) * [simple_planning_simulator] add readme (autowarefoundation#424) * add readme of simple_planning_simulator Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update simulator/simple_planning_simulator/README.md * set transit_margin_time to intersect. planner (autowarefoundation#460) * Fix pose2twist (autowarefoundation#462) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Ros2 vehicle info param server (autowarefoundation#447) * add vehicle_info_param_server * update vehicle info * apply format * fix bug * skip unnecessary search * delete vehicle param file * fix bug * Ros2 fix topic name part2 (autowarefoundation#425) * Fix topic name of traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of traffic_light_visualization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of traffic_light_map_based_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_recognition Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix issues in hdd_reader (autowarefoundation#466) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct * fix: re-construct laneletMapLayer for reindex RTree (autowarefoundation#463) * Rviz overlay render fix (autowarefoundation#461) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * super class now back to MFD Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * uncrustified Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * acquire data in mutex Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * back to RTD as superclass Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Rviz overlay render in update (autowarefoundation#465) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * super class now back to MFD Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * uncrustified Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * acquire data in mutex Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * removed unnecessary includes and some dead code Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * restored RTD superclass Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com> Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai> * Unify Apache-2.0 license name (autowarefoundation#1242) * Make planning modules components (autowarefoundation#1263) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Refactor vehicle info util (autowarefoundation#1305) * Update license Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Refactor vehicle_info_util Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename and split files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix interfaces Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix bug and add error handling Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add "// namespace" Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing include 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> * Add surround_obstacle_checker document (autowarefoundation#1895) * Add surround_obstacle_checker document * Remove unnecessary unit * Fix stop condition * Fix japanese doc and add english doc * Fix typo * Add detail information Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * Fix figure files and explainations * Add known limits Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * 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 * 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> * port surround obstacle checker (autowarefoundation#493) * change trajectory msg * change dynamicobject to predictedobject * run pre-commit * delete colcon ignore * deal with non polygon shape * replace twist with odometry * rename to README.md (autowarefoundation#550) * rename to README.md * dealt with new auto_msgs format Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * [apply_predicted_obj_type] adapt to autoware auto msgs (autowarefoundation#564) * fix obj shape * fix obj shape * fix goal pose * rename topic name twist -> odometry (autowarefoundation#568) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * update iv_msgs -> auto_msgs in planning readme (autowarefoundation#576) * update iv_msgs -> auto_msgs in planning readme * minor change * some fix * some fix Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Auto/fix surround obstacle checker (autowarefoundation#684) * change trajectory to trajectorypoints in function * add header to output * use output_trajectory_points Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> * Fix no ground pointcloud topic name (autowarefoundation#733) Signed-off-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> * fix/rename segmentation namespace (autowarefoundation#742) * rename segmentation directory * fix namespace: system stack * fix namespace: planning * fix namespace: control stack * fix namespace: perception stack * fix readme * ci(pre-commit): autofix Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Autoware <autoware@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com> Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* Back port .auto control packages (autowarefoundation#571) * Implement Lateral and Longitudinal Control Muxer * [autowarefoundation#570] Porting wf_simulator * [autowarefoundation#1189] Deactivate flaky test in 'trajectory_follower_nodes' * [autowarefoundation#1189] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' * [autowarefoundation#1057] Add osqp_interface package * [autowarefoundation#1057] Add library code for MPC-based lateral control * [autowarefoundation#1271] Use std::abs instead of abs * [autowarefoundation#1057] Implement Lateral Controller for Cargo ODD * [autowarefoundation#1246] Resolve "Test case names currently use snake_case but should be CamelCase" * [autowarefoundation#1325] Deactivate flaky smoke test in 'trajectory_follower_nodes' * [autowarefoundation#1058] Add library code of longitudinal controller * Fix build error for trajectory follower Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix build error for trajectory follower nodes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autowarefoundation#1272] Add AckermannControlCommand support to simple_planning_simulator * [autowarefoundation#1058] Add Longitudinal Controller node * [autowarefoundation#1058] Rename velocity_controller -> longitudinal_controller * [autowarefoundation#1058] Update CMakeLists.txt for the longitudinal_controller_node * [autowarefoundation#1058] Add smoke test python launch file * [autowarefoundation#1058] Use LowPassFilter1d from trajectory_follower * [autowarefoundation#1058] Use autoware_auto_msgs * [autowarefoundation#1058] Changes for .auto (debug msg tmp fix, common func, tf listener) * [autowarefoundation#1058] Remove unused parameters * [autowarefoundation#1058] Fix ros test * [autowarefoundation#1058] Rm default params from declare_parameters + use autoware types * [autowarefoundation#1058] Use default param file to setup NodeOptions in the ros test * [autowarefoundation#1058] Fix docstring * [autowarefoundation#1058] Replace receiving a Twist with a VehicleKinematicState * [autowarefoundation#1058] Change class variables format to m_ prefix * [autowarefoundation#1058] Fix plugin name of LongitudinalController in CMakeLists.txt * [autowarefoundation#1058] Fix copyright dates * [autowarefoundation#1058] Reorder includes * [autowarefoundation#1058] Add some tests (~89% coverage without disabling flaky tests) * [autowarefoundation#1058] Add more tests (90+% coverage without disabling flaky tests) * [autowarefoundation#1058] Use Float32MultiArrayDiagnostic message for debug and slope * [autowarefoundation#1058] Calculate wheel_base value from vehicle parameters * [autowarefoundation#1058] Cleanup redundant logger setting in tests * [autowarefoundation#1058] Set ROS_DOMAIN_ID when running tests to prevent CI failures * [autowarefoundation#1058] Remove TF listener and use published vehicle state instead * [autowarefoundation#1058] Change smoke tests to use autoware_testing * [autowarefoundation#1058] Add plotjuggler cfg for both lateral and longitudinal control * [autowarefoundation#1058] Improve design documents * [autowarefoundation#1058] Disable flaky test * [autowarefoundation#1058] Properly transform vehicle state in longitudinal node * [autowarefoundation#1058] Fix TF buffer of lateral controller * [autowarefoundation#1058] Tuning of lateral controller for LGSVL * [autowarefoundation#1058] Fix formating * [autowarefoundation#1058] Fix /tf_static sub to be transient_local * [autowarefoundation#1058] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [autowarefoundation#1379] Update trajectory_follower * [autowarefoundation#1379] Update simple_planning_simulator * [autowarefoundation#1379] Update trajectory_follower_nodes * apply trajectory msg modification in control Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move directory Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remote control/trajectory_follower level dorectpry Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove .iv trajectory follower Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use .auto trajectory_follower Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add tmp_autoware_auto_dependencies Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * tmporally add autoware_auto_msgs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply .auto message split Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix build depend Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix packages using osqp * fix autoware_auto_geometry * ignore lint of some packages * ignore ament_lint of some packages * ignore lint/pre-commit of trajectory_follower_nodes * disable unit tests of some packages Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com> Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> * Fix no ground pointcloud topic name (autowarefoundation#733) Signed-off-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> * Update twist topic name (autowarefoundation#736) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix/rename segmentation namespace (autowarefoundation#742) * rename segmentation directory * fix namespace: system stack * fix namespace: planning * fix namespace: control stack * fix namespace: perception stack * fix readme * ci(pre-commit): autofix Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com> Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* release v0.4.0 * Fix typo (#700) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix detection area (#701) * Replace calcDistance with calcSignedDistance Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add STOP state Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * intersection: change detection area length parameter from 100m to 200m (#702) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection: fix stuck vehicle behavior (#695) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Feature/intersection use spline interpolation library (#710) * Use spline_interpolation module * Remove debug messages * Feature/stop reason (#712) * add stop reason msg * add mock of stop resaon publisher * change namespace of stop reason * update stop reason msg * add toRosPoint * implement stop reason publisher of blind stop * implement stop reason publisher of crosswalk * implement stop reason publisher of intersection * implement stop reason publisher of stop line * implement stop reason publisher of trafficlight * implement stop reason publisher of detection area * fix bug * remove unnecessary process * add remained stop factor * clean code * fix bug * not punlish stop reason if array size is 0 * add stop reason to stuck object in intersection * add stop factor of obstacle stop planner * add stop reason of surround_obstacle checker * Apply review Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix message type * delete unused message from cmake * remove stopReasonStamped * change topic name of stop reasons Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix/stop reason (#724) * input stop reason of traffic light * add comment * add empty traffic light handling * change calculation method of traffic light position * avoid 0 position output * Fix/spline interpolation in intersection module (#726) * Remove duplicating sample points * Change isValidInput * Apply clang-format * Fix convergence check in PCG * fix clac signed distance bug (#733) * intersection: ignore stop plane when path[0] is in detection area (#739) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Publish tl states stamped (#744) * Add TrafficLightStateStamped.msg Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use msg instead of struct Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Publish traffic light state Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Check if lamp state is empty Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Apply clang-format Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * update visualization marker (#759) * fix stack area (#758) * dont check pointcloud (#765) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix stop factor of merge_from_private_area (#749) * Revert "Publish tl states stamped (#744)" (#771) This reverts commit 35a7e29e987afb29d9348b5f64866a584a65f753. * fix intersection bug (#773) * fix bug * fix bug * change uid of marker (#775) * Fix/publish tl state stamped (#772) * Publish tl states stamped (#744) * Add TrafficLightStateStamped.msg Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use msg instead of struct Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Publish traffic light state Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Check if lamp state is empty Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Apply clang-format Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Use dynamic pointer cast Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Fix blind spot areas and logic for creating a stop line (#732) * Fix blind spot areas Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Change logic for creating a stop line Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Do not add marker when marker is empty Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Return boost optional for first conflict point Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Return boost optional for intersection start point Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Apply clang Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Fix/intersection stuck detect area (#764) * fix stuck-vehicle detection area in intersection module * separate vehicle param * change the way ouf start idx count * change param * avoid to input -1 index (#777) * add dead line and pass through when over dead line (#784) * Add arg for input tl topic name (#783) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change margin to 1.0m (#790) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix insert target point bug (#798) * fix typo stop_liine to stop_line (#799) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * traffic light scene module : fix bug and change param (#800) * fix bug (passs judge line) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change param Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * Intersection add debug comment (#803) * blind spot : modify debug comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * merge from private road : modify debug comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection : modify debug comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection util: modify generateStopLine() for debug Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix intersection preceeding lane query (#807) * modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences() Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * update comment Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Fix blind spot area (#806) * Fix blind spot area Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use range based for Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use std::unique to remove adjacent duplicates Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use generateFineCenterline Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix detection area start point Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Revert "Use generateFineCenterline" This reverts commit 9d4f46bf65d7296b9286b30dfeed217a566a815c. * Fix centerline of half lanelet Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix area start point Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Revert "fix insert target point bug (#798)" (#815) This reverts commit 12eac2023538531e28a85a8914305cb534499f29. * Fix/traffic light state (#801) * fix bug (passs judge line) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change param Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix : remove stop state Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add lower limit Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change param (#821) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * stopline: parametrize check distance (#825) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Check if lanelets are sequential (#823) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix uninitialized variables (#816) * Parameterization for calculating judge line distance (#831) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 96b63e981899f79f2f5c6a6377e9600cc278e233. 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 (#28) * Port behavior_velocity_planner to ROS2 (#80) * Revert "Add geometry2 to repos (#76)" This reverts commit 6d2270476aaafdf1a8098d700d52a508525ea04b. * Automatic parts of the package port * Interesting part * Fix typo in package.xml * Review comments * Child logger names * Document logging duration Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * [ROS2] Fix behavior velocity planner (#110) * install launch and config folders Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * port launch file Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix config files Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * improve vehicle_info_utils to enable multiple declaration of VehicleInfo objects Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix sementation fault Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Convert calls of Duration to Duration::from_seconds where appropriate (#131) * Rename h files to hpp (#142) * Change includes * Rename files * Adjustments to make things compile * Other packages * Adjust copyright notice on 532 out of 699 source files (#143) * Use quotes for includes where appropriate (#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Run uncrustify on the entire Pilot.Auto codebase (#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs * fixing trasient_local in ROS2 packages (#160) * Enable cppcheck lints in behavior_velocity_planner (#159) * Enable lints in behavior_velocity_planner * Fix package.xml * Make launch files load vehicle model params dependent on argument (#228) * Make vehicle_model configurable in behavior_velocity_planner * Make vehicle_model configurable in vehicle_cmd_gate * change from vehicle_model to vehicle_param_file (#242) Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * Ros2 v0.8 fix typo of "preceding" (#323) * Fix typo of getPrecedingLaneletSequences * Fix comment * Ros2 v0.8.0 behavior velocity planner (#332) * restore behavior velocity planner files for v0.8.0 update * Fix detection area (#808) * Remove PASS state Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Keep stopping after going over dead-line in STOP state Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Clear state after obstacle disappears Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Parameterize and change conditions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Refactor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add elapsed time checker * Refactor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore inserting point if points are too close Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename NORMAL to GO Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Revert "Ignore inserting point if points are too close" This reverts commit 91c8d620ea11e703611945cb9a50877d175f4ff6. * Fix small bug Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: taichiH <azumade.30@gmail.com> * fix timing of publish stop reason of stop_line (#845) * fix timing of publish stop reason of stop_line * Fix formatting Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix task registration of detection area module (#856) * Fix task registration of detection area module Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix id of factor_text marker Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Do not interpolate if path size is 1 (#865) * Revert "restore behavior velocity planner files for v0.8.0 update" This reverts commit ce07d3c2bfae562d56fec46c4f81d5351fd936a1. * fix some implement miss * restore behavior velocity planner files for v0.8.0 update * change intersection param (#861) * Fix/intersection stop line (#841) * add trimmed path function * fix typo * avoid to insert stop line outside intersection * Add pass judge flag (#872) * Add pass judge flag Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix wrong format Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix flag order in judge condition Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add ignore width with blind spot (#864) * add ignore width with blind spot * remove unused function * fix typo * fix margin * remove bicycle from intersection stuck vehicle (#896) * Revert "restore behavior velocity planner files for v0.8.0 update" This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9. * fix implement miss * restore behavior velocity planner files for v0.8.0 update (fixed) * Add external traffic light input (#912) * Add external traffic light input Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update topic namespace * Fix typos in planning modules (#866) * fix typos in planning * fix corresponding typos in planning * revert fixed typos temporarily due to its impact on launchers * add exception handling to intersection module (#920) * add exception handling * output input path * prevent passthrough chattering (#901) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * cosnider current_velocity to calculate intersection passing time (#880) * cosnider current_velocity to calculate intersection passing time * add fabs to current velocity * Improve stuck vehicle detect (#824) * intersection: modify stuck vehicle detect logic to consider the object shape Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection: consider ego-vehicle length when calculate stuck vehicle detection area Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection: change param stuck_vehicle_ignore_dist: 5.0 -> 7.0 Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection: use vehicle_info/vehicle_length Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix implement miss * fix target pedestrian (#927) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix insert backward point (#953) * fix insert backward point * add comment Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * remove unnecessary if Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * Add stop line referred from road marking (#968) * Add stop line referred from road marking Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add stop line for walkway Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Feature/external input (#982) * add external input msg * impl external input(crosswalk, intersection) * :put_litter_in_its_place: * change to ++14 * fix bug * fix bug * cosmetic change * Revert "restore behavior velocity planner files for v0.8.0 update" This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9. * Fix typo (#1013) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix/blind spot insert point (#1027) * Copy insert point from previous point * Reset path unless state is stop Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change slow down speed (#1030) * restore behavior velocity planner files for v0.8.0 update (fixed) * Fix/walkway stop judge range (#1028) * Fix walkway stop judge Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Make refer id same Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix getObjectivePolygons() so that intersecting lanelet is added to objective lanelets even when there is no preceeding lanelets (#1010) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * fix implement miss for marker * restore behavior velocity planner files for v0.8.0 update (fixed) * Fix/blind spot polygon (#1056) * Fix detection area for blind spot Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply clang format Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Shrink conflicting area Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chane slowdown judgement (#1066) * chane slowdown judgement * cosmetic change * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * fixed for ros2 style * restore behavior velocity planner files for v0.8.0 update (fixed) * Remove unused headers in behavior_velocity_planner (#1072) * publish walkway stop reason (#1073) * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * restore behavior velocity planner files for v0.8.0 update (fixed) * Add correspondence marker of detection_area and stop_line (#1081) * Fix comment Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add const Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add correspondence marker of detection_area and stop_line Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add obstacle marker Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fixup Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add id marker Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Clear state when time rollback found Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * change stop to polygon line * apply clang format * fix code * fix bug Co-authored-by: taichiH <azumade.30@gmail.com> * Fix pass judge idx (#1090) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix bug (#1087) * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * fix for ros2 style * restore behavior velocity planner files for v0.8.0 update (fixed) * Fix/remove duplicated point (#1107) * Split PoseDeviaiton functions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove unnecessary pose Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Don't insert point if duplicated point exists Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix condition of duplicated points Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * seperate stop distance param (#1137) * seperate stop distance param Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * apply param for automotically generated stop line Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * shift slow down line Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * add param in yaml file Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * fix prediction_time_margin bug (#1148) * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * fix ros2 style * remove deprecated * reformat * add test temporary launch * cpp_lint_namespace_what_you_use * lint_comment_line_length * pass ament cpplint * fixe commit * fix code * remove unneccesary * fix param structure * fix missng params * fix throttle time Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: taichiH <azumade.30@gmail.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> 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: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Rename ROS-related .yaml to .param.yaml (#352) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove prefix 'default_' of yaml files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename diagnostic_aggregator's param files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix overlooked parameters Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * [behavior_velocity_planner]: Fix missing ros2 porting (#392) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix error handling of tf lookupTransform (#405) Co-authored-by: autoware <autoware@example.com> * rm_std_msgs (#402) * Sensor data qos (#407) * Use sensor data qos for pointcloud preprocessor Signed-off-by: Autoware <autoware@tier4.jp> * Use sensor data qos for pointcloud Signed-off-by: Autoware <autoware@tier4.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use sensor data qos for livox tag filter and vector map filter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Autoware <autoware@tier4.jp> * Ros2 fix topic name part1 (#408) * Fix topic name of lane_departure_checker debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_departure_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_stop_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of surround_obstacle_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of emergency_handler Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint errors Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix typo Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix typo in planning module (#432) * Fix typo in planning module * Fix remaining errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply cpplint and uncrustify. Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix traffic light module (#458) * change log type (#459) * add use_sim-time option (#454) * Fix rolling build errors (#1225) * Add missing include files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Replace rclcpp::Duration Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use reference for exceptions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use from_seconds Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Sync public repo (#1228) * [simple_planning_simulator] add readme (#424) * add readme of simple_planning_simulator Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update simulator/simple_planning_simulator/README.md * set transit_margin_time to intersect. planner (#460) * Fix pose2twist (#462) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Ros2 vehicle info param server (#447) * add vehicle_info_param_server * update vehicle info * apply format * fix bug * skip unnecessary search * delete vehicle param file * fix bug * Ros2 fix topic name part2 (#425) * Fix topic name of traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of traffic_light_visualization Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of traffic_light_map_based_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_recognition Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix issues in hdd_reader (#466) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct * fix: re-construct laneletMapLayer for reindex RTree (#463) * Rviz overlay render fix (#461) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * super class now back to MFD Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * uncrustified Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * acquire data in mutex Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * back to RTD as superclass Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Rviz overlay render in update (#465) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * super class now back to MFD Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * uncrustified Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * acquire data in mutex Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * removed unnecessary includes and some dead code Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * restored RTD superclass Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com> Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai> * Unify Apache-2.0 license name (#1242) * Make planning modules components (#1263) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Remove use_sim_time for set_parameter (#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Refactor vehicle info util (#1305) * Update license Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Refactor vehicle_info_util Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename and split files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix interfaces Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix bug and add error handling Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add "// namespace" Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing include Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix slow/stop marker color & stop reason (#1347) (#1354) Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * fix intersection stop line (#1272) (#1349) * fix intersection stop line (#1272) * fix intersection stop line * fix comment * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Avoid passing empty lanelets to getPolygonFromArcLength (#1371) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add perception traffic light state output (#1302) * Add perception traffic light state output Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Apply message type to relay Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Feature/consider jerk limit in passjudge (#1339) (#1351) * Feature/consider jerk limit in passjudge (#1339) * make new branch for behavior velocity planner * update implementation for considering accel & jerk limit * refactoring * change default params * change default params * change minimum velocity which decides to conduct pass judge * remove ROS_DEBUG_COND() * remove unnecessary variables * fix lowpass filter implementation * calc acceleration in planner_data_ Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Feature/refactor stop line module (#1343) (#1359) * Refactor stop_line planner module Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add document Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix English Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Feature/add stop duration ros2 (#1380) * Feature/add stop duration (#1367) * Add stop_duration to behavior_velocity_planner Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * parameterize stop duration sec * Use stop_duration in Stop Line module Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Change default value Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix topic name of external traffic light input (#1412) * publish perception and external tl_state for mlops (#1350) (#1375) * publish perception and external tl_state for mlops * fix tl_state time stamp Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Fix/traffic light planning module (#1424) (#1487) * Fix/traffic light planning module (#1424) * bug fix * refactor * refactor * cosmetic change * fix typo * cosmetic change * refactor * remove unused func * enable restart * cosmetic change * fix typo * refactor * bug fix * cosmetic change * modify debug_data * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Remove unnecesarry comment Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix bug Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * change msg type looking traffic light state (#1494) * change msg type looking traffic light state (#1455) * change msg type looking traffic light state * fix msg name * using namespace * change function name * fix typo * add readme * Update awapi/awapi_awiv_adapter/Readme.md fix typo Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Remove deprecated message include Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Add namespace to behavior_velocity_planner (#1542) * Add namespace to behavior_velocity_planner Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Avoid passing uninitialized index (#1609) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * suppress warnings for behavior_velocity_planner (#1733) * add Werror * suppress warnings for stopline module * fix for crosswalk * fix for traffic light * fix for detection area * fix style * use {} * use auto * Fix -Wunused-parameter (#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 compiler warnings (#1837) * Fix -Wunused-private-field Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wunused-variable Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wformat-security Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Winvalid-constexpr Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wdelete-non-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wdelete-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Winconsistent-missing-override Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wrange-loop-construct Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix "invalid application of 'sizeof' to an incomplete type" Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore -Wgnu-anonymous-struct and -Wnested-anon-types Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore -Wno-deprecated-declarations in CUDA-related packages Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add autoware api (#1979) * Feature/add virtual traffic light planner (#1588) * add sort-package-xml hook in pre-commit (#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 * remove spline_interpolation, and create interpolation package that ha… (#2114) * remove spline_interpolation and add interpolation package * fix bugs and add simple test * modify application for interpolation package * add some tests and fix ci test * add some tests * add -Werror * move functions to anonymous * fix reviews * fix typo * fix review and lint * add tests * resolve TODOs * add README.md * Update common/math/interpolation/test/src/test_interpolation_utils.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update common/math/interpolation/test/src/test_interpolation_utils.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update common/math/interpolation/test/src/test_interpolation_utils.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix README.md * dealt with reviews * update README.md * update README.md * Update common/math/interpolation/README.md * fix some bugs * fix typo * update README.md * Update common/math/interpolation/README.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix test * Update common/math/interpolation/README.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix cdots * fix README.md * Update common/math/interpolation/README.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Sync develop/fix interpolation and speed up calculation (#2290) * debug slope calculation in behavior (#1566) (#1727) * debug slope calculation in behavior (#1566) * update * update * revert change of autoware_utils * define getPose in behavior_path_planner * update * update * update * update * interpolate z in obstacle_avoidance_planner * update velocity controller * fix detection area and scene * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * update comment in velocity controller * remove debug print * update Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix variable names Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix uncrustify Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * add underscore to marker namespace (#1785) Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * [obstacle_avoidance_planner] remove useless get nearest idx (#1851) * modify velocity insertion in obstacle_avoidance_planner Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [obstacle_avoidance_planner] reduce calculation cost in relative/absolute transformation (#1844) * implement relative/absolute transformation without yaw but directly sin/cos of yaw * rename: relative_p to absolute_p * assigin point.z to rel/abs_z * fix cpp-lint error Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix argument order (#1502) (#1622) Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Change param (#1559) (#1677) Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Feature/use spline module in behavior velocity planner (#1457) (#1495) * Feature/use spline module in behavior velocity planner (#1457) * Use spline_interpolation module * Remove unused function * Remove unused include * Use autoware_utils * Remove unused function * Remove cubic_spline.hpp * Fix error handling * Fix interpolation of velocity Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change warning threshold (#1539) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Feature/porting behavior path planner (#1645) * Add behavior path planner pkg with Lane Change (#1525) * add lanelet extension funcs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add planning msgs for FOA Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add behavior_path_planner pkg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply clang format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add error handling for config load failure Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace word: foa with remote control Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add readme Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use pointer for return value of path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix hz Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug print Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove shide-shift & avoidance related files Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Clip path by goal * add build depend for behavior tree cpp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * temporally disable lint test in lanelet2_extension Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> * Add avoidance module in behavior_path_planner (#1528) * Revert "remove shide-shift & avoidance related files" This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. * refactor findNewShiftPoint func Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove duplicated decleration Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix barkward length issue - add clipPathLenght func in avoidance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * refactor: - translate english - minor modification for traffic distance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * support debug marker in behavior_path_planner Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * clean up side shift module Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change topic name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove japanese Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused var Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * adress reviewer comments: - add const for variables - add comment - fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Replace behavior_path utilities with autoware_utils (#1532) * replace calcDistance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace arange Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replave convertToEigenPt with autoware_utils::fromMsg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace normalizeRadian Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * import #1526 into behavior path planner (#1531) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix/behavior path empty path output guard (#1536) * add guard Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp * fix lateral jerk calculation (#1549) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: error handling on exception in behavior_path_planner (#1551) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix ignore too steep avoidance path (#1550) * ignore too steep path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp * parametrize lateral jerk limit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * use offsetNoThrow and add error log (#1615) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Ignore object ahead goal for avoidance (#1618) * Ignore object ahead goal for avoidance * Add flag * Fix position of definition of goal_pose * Fix arclength calculation * Fix position of definition of goal_pose * fix intersection stop line (#1636) * fix intersection stop line * fix typo * add document (#1635) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Port behavior path planner to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix map qos Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * debug slope calculation in behavior (#1566) * update * update * revert change of autoware_utils * define getPose in behavior_path_planner * update * update * update * update * interpolate z in obstacle_avoidance_planner * update velocity controller * fix detection area and scene * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * update comment in velocity controller * remove debug print * update Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Address review: Fix config file name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix redeclaring parameters Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing tf2 geometry function Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix rclcpp Time initialization Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use now() instead of msg stamp Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use throttle output in getExpandedLanelet Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing const Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> * Fix/generate intersection stop (#1590) (#1679) * Fix/generate intersection stop (#1590) * fix bug of conflicting polygons * clean code * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix/stop margin time ros2 (#1683) * Add stop margin time in walkway and merge_from_private_area (#1613) * Add stop margin time in walkway, merge_from_private_area * Fix param name * Fix bug * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Feature/change stop lines handling to support parking car avoidance p… (#1676) * Feature/change stop lines handling to support parking car avoidance path (#1464) * support parking car avoidance * change log level * apply clang-format * add extendLine function * clean up & apply clang-format * change implementation getStopPoseFromMap() * remove unuse comment line Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * fix argument order (#1580) Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Feature/porting occlusion spot (#1740) * Feature/occlusion_spot safety planner public road (#1594) * add blind spot safety planner public road * remove duplicated procesing * remove unused private param * renaming fix typo add comments * fix spell check * velocity -> relative velocity * calc2d, To param, simplify search, To original * add the num possible collision gurd * computational cost reduction * Cosmetic change for PossibleCollisionInfo * add interpolation to possible collision value * refactor codes * fix details * invalid point gurd * To Param * refacotor to occlusion spot util * cosmetic change * clean up blindspot * To Occlusion Spot * revise readme * refactor drawing * for better explanation * fix velocity profile * clean up details * cosmetic change for debug marker * use max velocity in obstacle info instead * add gtest for Too Many Possible Collision case * change case * refactor readme * minor fix * add more occlusion spot explanation * replace svg * add gtest build path lanelet * hotfix lateral distance and searching method * update g test for lateral distance * use faster search * set more realistic param * add lanelet subtype highway * cosmetic change of reviews * add occlusion spot module in private area (#1640) * add occlusion spot in private * For debugging change * add spline interpolation to path * add review changes * adding minor change * cosmetic change * Vector to retval * Blindspot To OcclusionSpot1 * To Occlusion Spot 2 * To Occlusions spot3 * update gtest with unified anchor * remove anchor * add test slice * simplify interpolation * Too Occlusion spot4 * add test buffer * To Occlusion spot * namespace gurd * correct slice and add interpolation first * handle self crossing with check for invation * to ros debug stream * removed unused interpolation * add readme to plant uml * cosmetic change * minor change * update readme * review change * change occlusion spot text color * To Offset no Throw * better debug marker * catch only inversion error * skip return in case of inversion * for better grid * simplify path lanelet at first * remove std::cout * for better path * limit ego path inside target lanelet location * remove last points * cosmetic change for markers * apply module for limited scene * fix interpolation gurd * for better params * do not includes path behind * remove dummy perception publisher * Revert "remove dummy perception publisher" This reverts commit 4acad985fe31dd9befaa21a16631495de6c3a117. * replace hard coded occupancy grid option in psim * remove respawn * add arg to params and remove redundunt launch * fix spell check * fix default value Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Feature/occlusion spot private slice size param (#1703) * add min slice size * for a bit narrow lateral distance * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * Rename files Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Porting to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix launch namespace Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix parameter type Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_private_road.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * fix function name and condition for detection area (#1758) * Fix build warning for occlusion spot (#1766) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix passing uninitialized index (#1792) * Fix passing uninitialized index Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply uncrustify Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix return value Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix/intersection bug (#1787) * fix insert point function * apply format * separate insertPoint and hasDuplicatedPoint * clean code * fix bug * replace velocity if collision point is too close to original path point (#1799) * replace velocity if collision point is too close to original path point * fix comment * Fix compile warnings (#1852) Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wunused-private-field Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wunused-lambda-capture Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wdelete-non-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wrange-loop-construct Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Ignore lint error Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Document / behavior velocity planner (#1767) update document Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix occlusion spot insert velocity ros2 (#1821) * Fix/occlusion spot offset (#1824) * merge calcCollisionFunction * ConsiderSignedOffset * add extractRoadTargetAndSignedOffset * apply signed offset and fix longitudinal distance * fix unapplied param * update gtest * consider offset until target road * refactor for proper variable name * fix typo * remove unused first index * fix closest * fix diff * fix velocity and height * tune distance thershold * fix colcon test * apply param at the experiment * fix unused and param * Fix/current acc initialize (#1899) * use boost::optional * null guard * fix typo * Feature/improve intersection detection area (#1958) * exclude ego_lanes from detection_area * add empty handling * remove unused function * Fix for uncrustify Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * [behavior_velocity_planner] remove unnecessary graph search to reduce computational cost (#1980) * remote unnecessary graph search Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add var for graph id Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused stopline search for computational cost reduction Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * restore lane_ids iteration as it was Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * sort sidewalk slice by arc length (#1967) * sort sidewalk slice by arc length * handle invalid index * divide offset to ego to closest to and closest to target * fix cartesian distance to arc lane distance * consider ego to target to ignore length * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix/merge from private area (#2005) * fix insert pos. of merge from private area * exclude entrance of private road from path * extract exit of private road * Feature/intersection module detect obstacle (#1990) * change the way to detect target objects in detection area * check the angle of deteced objects * ignore predicted path with low confidence * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/README.md Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix format * fix object position judge * change function * apply format Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * occlusion spot lower min ego velocity (#2140) Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> * add behavior velocity planner utils (#2113) * add gtest utils * add state machine as utils * add arc lane utils * remove empty file * add gtest for offset segment * use calcdist2d in autoware util * apply get point * fix uncrustify * fix conflict getPoint in behavior path * apply commit suggestion * slower than ros1 * use interpolation::slerp (#2161) * Update traffic light state if ref stop point is ahead of previous one (#2197) (#2240) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Change formatter to clang-format and black (#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 (#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * rename topic name twist -> odometry (#568) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Auto/behavior velocity (#605) * port except for traffic light * fix test * update traffic light * fix errors * rename traffic message: final -> result * fix package.xml * twist -> odometry * use confidence * rename topic name of dynamic objects * remove TODOs * deal with probabilistic test failure * deal with probabilistic test failure2 Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Sync .auto branch with the latest branch in internal repository (#691) * add trajectory point offset in rviz plugin (#2270) * sync rc rc/v0.23.0 (#2258) * fix interpolation for insert point (#2228) * fix interpolation for insert point * to prev interpolation pkg * Revert "to prev interpolation pkg" This reverts commit 9eb145b5d36e297186015fb17c267ccd5b3c21ef. Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> * fix topic name (#2266) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Add namespace to diag for dual_return_filter (#2269) * Add a function to make 'geometry_msgs::msg::TransformStamped' (#2250) * Add a function to make 'geometry_msgs::msg::TransformStamped' * Add 'child_frame_id' as an argument of 'pose2transform' * Simplify marker scale initialization (#2286) * Fix/crosswalk polygon (#2279) * extend crosswalk polygon * improve readability * fix polygon shape * Add warning when decel distance calculation fails (#2289) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * [motion_velocity_smoother] ignore debug print (#2292) * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cahnge severity from WARN to DEBUG for debug info Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use util for stop_watch Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix map based prediction (#2200) * fix map based prediction * fix format * change map based prediction * fix spells * fix spells in comments * fix for cpplint * fix some problems * fix format and code for clang-tidy * fix space for cpplint * Update Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * fix vector access method * fix readme format * add parameter * Update perception/object_recognition/prediction/map_based_prediction/Readme.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update perception/object_recognition/prediction/map_based_prediction/Readme.md Co-authored-by: Kazuki Miyahara <kmiya@out…

yukke42 · 2022-05-10T09:14:34Z

@tzhong518 Could you change codes for pointpainting in #569, if necessary?

perception/lidar_centerpoint/CMakeLists.txt

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

…owarefoundation#733) * refactor: sererate config.hpp Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: set config from ros params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * refactor: change directory structure Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: make centerpoint shared library Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: to detected objects message Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * refactor: change var name Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * refactor: config Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * chore: remove src directory from target_include_directories Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

…r4#733) * refactor: sererate config.hpp Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: set config from ros params Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * refactor: change directory structure Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: make centerpoint shared library Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * feat: to detected objects message Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * refactor: change var name Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * refactor: config Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * chore: remove src directory from target_include_directories Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

yukke42 added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Apr 20, 2022

yukke42 changed the title ~~Lidar centerpoint library~~ feat(lidar_centerpoint): make lidar_centerpoint a shared library Apr 20, 2022

yukke42 marked this pull request as draft April 20, 2022 08:24

yukke42 force-pushed the lidar-centerpoint-library branch from c225474 to e5fca5d Compare May 10, 2022 07:57

yukke42 requested review from miursh, tzhong518 and wep21 May 10, 2022 09:08

yukke42 marked this pull request as ready for review May 10, 2022 09:09

yukke42 force-pushed the lidar-centerpoint-library branch from 32e7d3e to c1c1acd Compare May 20, 2022 07:47

tzhong518 approved these changes May 25, 2022

View reviewed changes

wep21 reviewed May 25, 2022

View reviewed changes

perception/lidar_centerpoint/CMakeLists.txt Outdated Show resolved Hide resolved

yukke42 added 8 commits May 25, 2022 12:07

refactor: sererate config.hpp

7c59a4b

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

feat: set config from ros params

ae1d17f

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

refactor: change directory structure

a40febd

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

feat: make centerpoint shared library

8c49f89

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

feat: to detected objects message

aa20ee3

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

refactor: change var name

197119c

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

refactor: config

c01bc70

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

chore: remove src directory from target_include_directories

280bf42

Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

yukke42 force-pushed the lidar-centerpoint-library branch from c1c1acd to 280bf42 Compare May 25, 2022 03:15

yukke42 merged commit f5f998b into autowarefoundation:main May 26, 2022

yukke42 deleted the lidar-centerpoint-library branch May 26, 2022 03:06

tier4-autoware-public-bot bot mentioned this pull request May 27, 2022

chore: sync upstream tier4/autoware.universe#50

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(lidar_centerpoint): make lidar_centerpoint a shared library #733

feat(lidar_centerpoint): make lidar_centerpoint a shared library #733

yukke42 commented Apr 20, 2022 •

edited

Loading

codecov bot commented Apr 20, 2022 •

edited

Loading

yukke42 commented May 10, 2022

feat(lidar_centerpoint): make lidar_centerpoint a shared library #733

feat(lidar_centerpoint): make lidar_centerpoint a shared library #733

Conversation

yukke42 commented Apr 20, 2022 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Apr 20, 2022 • edited Loading

Codecov Report

yukke42 commented May 10, 2022

yukke42 commented Apr 20, 2022 •

edited

Loading

codecov bot commented Apr 20, 2022 •

edited

Loading