feat(autonomous_emergency_braking): update and speed up aeb #1532
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…aeb (autowarefoundation#7548) * add polling sub to predicted objects Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP requires changing path frame to map Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add parameters and reuse predicted obj speed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * introduce early break to reduce computation time Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * resolve merge conflicts Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix guard Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove unused declaration Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix include Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix include issues Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove inline Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete unused dependencies Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add utils.cpp Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove _ for non member variable Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…utowarefoundation#7605) * add minimum cluster height threshold Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add update param option Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * avoid the float check if cluster_surpasses_threshold_height is already true Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update README Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add cluster height description Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…oundation#7740) change resize to reserve Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…utowarefoundation#7707) * add support for negative speeds Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove negative speed check for predicted obj Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…utowarefoundation#7703) * apply clangd suggestions Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add maintainer Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…owarefoundation#7894) * add virtual stop wall to aeb Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add maintainer Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add uppercase Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use motion utils function instead of shiftPose Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…state (autowarefoundation#8312) add info marker and override for state Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…warefoundation#8330) update readme for new param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…undation#8126) * add initial tests Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add more tests Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * more tests Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP add publishing and test subscription Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add more tests Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix lint cmake Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP tf topic Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Revert "WIP tf topic" This reverts commit b5ef11b. Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add path crop test Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add test for transform object Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add briefs Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete repeated test Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…autowarefoundation#8569) * make it so AEB works with only one req path type (imu or MPC) Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix missing mpc path return Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add check Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * modify no path msg Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…arefoundation#8611) fix bug by using the collision data keeper Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…DME (autowarefoundation#8612) * docs: improve AEB module's README Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> * update rss distance length Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
…undation#8706) * add timekeeper to AEB Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add more info to output Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…t transform (autowarefoundation#8734) set stamp to 0 to get the latest stamp instead of waiting for the stamp Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…8778) * add missing rclcpp::Time(0) Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor to reduce cropping to once per iteration Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add LookUpTransform to utils Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * separate object creation and clustering Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * error handling of empty pointcloud Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
danielsanchezaran
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Description
This PR updates the AEB module to match the current OSS implementation.
Improvements include:
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How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.