feat(behavior_velocity_planner): add rtc interface to behavior velocity planner #963

rej55 · 2022-05-26T02:33:13Z

Description

Apply RTC interface to behavior velocity planner.

In the scene modules, I changed the stop condition to check activation command from external.
If the command is DEACTIVATE, it sets the stop point. Otherwise, it does not set the stop point (go through).
Furthermore, send distance to the stop point to give the information for operating.

In this PR, RTC interface are not introduced in the following modules.

Occlusion Spot
Stop Line
Virtual Traffic Light

Tests performed

Test performed in the real vehicle

Crosswalk
Intersection
Traffic Light

Test performed in planning simulator ( with #964 )

Blind Spot

blind_spot-2022-05-27_23.16.38.mp4

Detection Area

detection_area-2022-05-27_23.31.22.mp4

No Stopping Area

no_stopping_area-2022-05-27_23.21.16.mp4

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 · 2022-05-26T03:29:00Z

Codecov Report

Merging #963 (ef7d71d) into main (3880490) will decrease coverage by 0.12%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #963      +/-   ##
========================================
- Coverage   9.00%   8.87%   -0.13%     
========================================
  Files       1020    1020              
  Lines      63771   64854    +1083     
  Branches   13985   14572     +587     
========================================
+ Hits        5742    5759      +17     
- Misses     53111   54069     +958     
- Partials    4918    5026     +108

Flag	Coverage Δ		*Carryforward flag
differential	`5.07% <0.00%> (?)`
total	`9.00% <0.00%> (ø)`		Carriedforward from 3880490

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

Impacted Files	Coverage Δ
...lanner/include/scene_module/blind_spot/manager.hpp	`0.00% <ø> (ø)`
...planner/include/scene_module/crosswalk/manager.hpp	`0.00% <ø> (ø)`
...er/include/scene_module/detection_area/manager.hpp	`0.00% <ø> (ø)`
...nner/include/scene_module/intersection/manager.hpp	`0.00% <ø> (ø)`
.../include/scene_module/no_stopping_area/manager.hpp	`0.00% <ø> (ø)`
...er/include/scene_module/scene_module_interface.hpp	`0.00% <0.00%> (ø)`
...ner/include/scene_module/traffic_light/manager.hpp	`0.00% <ø> (ø)`
.../behavior_velocity_planner/src/planner_manager.cpp	`0.00% <0.00%> (ø)`
...city_planner/src/scene_module/blind_spot/debug.cpp	`0.00% <0.00%> (ø)`
...ty_planner/src/scene_module/blind_spot/manager.cpp	`0.00% <0.00%> (ø)`
... and 72 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 3880490...ef7d71d. Read the comment docs.

planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp

yukkysaito

LGTM

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

…walk Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

…ty planner (tier4#963) * feature(behavior_velocity_planner): apply rtc interface Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): add distance calculation to crosswalk Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): fix debug data update Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): apply to intersection Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): fix stop condition Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): fix stop wall publishing Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): fix insert_stop Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): fix state transition in intersection Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): add rtc to traffic_light Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): fix distance calculation and safety Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): add stamp Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_velocity_planner): move some function to protected Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_velocity_planner): fix intersection module Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): add rtc_interface to blind_spot Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): add rtc to detection area Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): add rtc to no stopping area Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_velocity_planner): fix debug in intersection Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * chore(behavior_velocity_planner): cosmetic change Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * ci(pre-commit): autofix * fix(behavior_velocity_planner): fix debug of blind_spot Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_velocity_planner): define interface class and use it Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * chore(behavior_velocity_planner): small fix for diff Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * chore(behavior_velocity_planner): remove unnecessary function Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_velocity_planner): fix conflicts Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…on#963) * feat(intersection): move pass judge line backward Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * disable pass judge sudden stop Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update config Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

rej55 force-pushed the feature/add_rtc_interface_to_behavior_velocity_planner branch from 5f19c47 to c0e3e6b Compare May 27, 2022 19:11

rej55 requested review from TakaHoribe, yukkysaito and tkimura4 May 28, 2022 03:43

rej55 marked this pull request as ready for review May 28, 2022 03:44

yukkysaito reviewed May 30, 2022

View reviewed changes

planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp Outdated Show resolved Hide resolved

yukkysaito reviewed May 30, 2022

View reviewed changes

planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp Outdated Show resolved Hide resolved

yukkysaito self-requested a review June 6, 2022 07:28

yukkysaito approved these changes Jun 6, 2022

View reviewed changes

rej55 and others added 20 commits June 16, 2022 17:13

feature(behavior_velocity_planner): apply rtc interface

52d9446

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): add distance calculation to cross…

148678b

…walk Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): fix debug data update

5c85256

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): apply to intersection

a53a435

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): fix stop condition

a7085f4

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): fix stop wall publishing

1d0542c

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): fix insert_stop

9e9454a

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): fix state transition in intersection

371561c

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): add rtc to traffic_light

74ac5d1

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): fix distance calculation and safety

7314a17

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): add stamp

5eaa286

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

fix(behavior_velocity_planner): move some function to protected

1fcbf54

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

fix(behavior_velocity_planner): fix intersection module

0a61364

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): add rtc_interface to blind_spot

329df43

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): add rtc to detection area

704aa6e

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feature(behavior_velocity_planner): add rtc to no stopping area

0134ee0

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

fix(behavior_velocity_planner): fix debug in intersection

d3237ee

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

chore(behavior_velocity_planner): cosmetic change

2947a83

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

ci(pre-commit): autofix

e2b13a7

fix(behavior_velocity_planner): fix debug of blind_spot

094434b

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

rej55 added 4 commits June 16, 2022 17:16

feature(behavior_velocity_planner): define interface class and use it

f0a0cbd

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

chore(behavior_velocity_planner): small fix for diff

bdc8249

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

chore(behavior_velocity_planner): remove unnecessary function

ee97f62

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

fix(behavior_velocity_planner): fix conflicts

ef7d71d

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

rej55 force-pushed the feature/add_rtc_interface_to_behavior_velocity_planner branch from 1571a72 to ef7d71d Compare June 16, 2022 08:58

rej55 merged commit 737ab3c into autowarefoundation:main Jun 16, 2022

tier4-autoware-public-bot bot mentioned this pull request Jun 16, 2022

chore: sync upstream tier4/autoware.universe#65

Merged

rej55 deleted the feature/add_rtc_interface_to_behavior_velocity_planner branch December 8, 2023 07:57

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(behavior_velocity_planner): add rtc interface to behavior velocity planner #963

feat(behavior_velocity_planner): add rtc interface to behavior velocity planner #963

rej55 commented May 26, 2022 •

edited

Loading

codecov bot commented May 26, 2022 •

edited

Loading

yukkysaito left a comment

feat(behavior_velocity_planner): add rtc interface to behavior velocity planner #963

feat(behavior_velocity_planner): add rtc interface to behavior velocity planner #963

Conversation

rej55 commented May 26, 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 May 26, 2022 • edited Loading

Codecov Report

yukkysaito left a comment

Choose a reason for hiding this comment

rej55 commented May 26, 2022 •

edited

Loading

codecov bot commented May 26, 2022 •

edited

Loading