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feat: first draft proposal implementation for handling invalid lanelets #235

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merged 10 commits into from
May 30, 2023
Merged

feat: first draft proposal implementation for handling invalid lanelets #235

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6131101
feat: first draft proposal implementation for handling invalid lanelets
ahmeddesokyebrahim Mar 3, 2023
609d23b
style(pre-commit): autofix
pre-commit-ci[bot] Mar 3, 2023
f99a282
feat: adding invalid lanelet for rviz visualization
ahmeddesokyebrahim Mar 20, 2023
cdafc31
feat: fixing review comment
ahmeddesokyebrahim Apr 5, 2023
901b227
feat: changing module name from invalid_lanelet to no_drivable_lane
ahmeddesokyebrahim May 5, 2023
b74866c
feat: fixing merge conflict mistakes
ahmeddesokyebrahim May 10, 2023
279bc9e
feat: fixing merge conflict mistakes
ahmeddesokyebrahim May 10, 2023
1e7ce9a
feat: fixing merge conflicts
ahmeddesokyebrahim May 10, 2023
a1f394c
feat: removing rtc handing
ahmeddesokyebrahim May 16, 2023
428fadf
feat(no_drivable_lane): reflecting refactoring changes to no_drivable…
ahmeddesokyebrahim May 29, 2023
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1 change: 1 addition & 0 deletions ..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
launch_run_out: false
launch_speed_bump: false
launch_out_of_lane: true
launch_no_drivable_lane: false
forward_path_length: 1000.0
backward_path_length: 5.0
stop_line_extend_length: 5.0
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5 changes: 5 additions & 0 deletions ...ning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
/**:
ros__parameters:
no_drivable_lane:
stop_margin: 1.5 # Stop margin before the no drivable lane [m]
print_debug_info: false
1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_planning_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@
<arg name="run_out_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
<arg name="speed_bump_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
<arg name="out_of_lane_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
<arg name="no_drivable_lane_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
<arg name="behavior_velocity_planner_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>

<!-- parking -->
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24 changes: 24 additions & 0 deletions autoware_launch/rviz/autoware.rviz
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Expand Up @@ -1639,6 +1639,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: VirtualWall (NoDrivableLane)
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane
Value: true
Enabled: true
Name: VirtualWall
- Class: rviz_common/Group
Expand Down Expand Up @@ -1909,6 +1921,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: NoDrivableLane
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
Value: false
Enabled: false
Name: DebugMarker
- Class: rviz_common/Group
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