chore: sync upstream #176

tier4-autoware-public-bot · 2022-11-11T00:16:03Z

Features

[emergency_handler] Add a selector for multiple MRM behaviors (feat(emergency_handler): add a selector for multiple MRM behaviors autowarefoundation/autoware.universe#2070)

…utowarefoundation#2070) * feat(emergency_handler): add mrm command and status publishers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): add mrm clients and subscribers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(mrm_comfortable_stop_operator): ready ros2 node template Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(mrm_comfortable_stop_operator): implemented Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(mrm_comfortable_stop_operator): implement as component Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * chore(mrm_comfortable_stop_operator): add a launch script Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * refactor(mrm_comfortable_stop_operator): remove a xml launch file Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(autoware_ad_api_msgs): change mrm status msg Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): add mrm operator and mrm behavior updater Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): add mrm behavior state machine Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): remap io names Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(emergency_handler): fix request generation Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(emergency_handler): add multi thread execution for service Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(vehicle_cmd_gate): add mrm operation service and status publisher Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * refactor(mrm_comfortable_stop_operator): use MRMBehaviorStatus struct Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(mrm_comfortable_stop_operator): add time stamp for status Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(vehicle_cmd_gate): change system emergency state by mrm operation Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * chore(autoware_ad_api_msgs): remove rti_operating state from mrm status Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(mrm_sudden_stop_operator): add mrm_sudden_stop_operator Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * refactor(autoware_ad_api_msgs): rename from mrm status to mrm state Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(mrm_comfortable_stop_operator): set qos for velocity limit publisher Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): add mrm state publisher Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(vehicle_cmd_gate): add subscription for mrm_state Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(mrm_sudden_stop_operator): fix control command topic name Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(vehicle_cmd_gate): pub emergency control_cmd according to mrm state Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): remove emergency control_cmd publisher Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * chore(tier4_control_launch): remap mrm state topic Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(tier4_system_launch): launch mrm operators Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(emergency_handler): fix autoware_ad_api_msgs to autoware_adapi_v1_msgs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(vehicle_cmd_gate): remove subscribers for emergency_state and mrm operation Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(vehicle_cmd_gate): fix system emergency condition Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(emergency_handler): add stamp for mrm_state Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(mrm_emergency_stop_operator): rename sudden stop to emergency stop Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(vehicle_cmd_gate): remove emergency stop status publisher Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(emergency_handler): replace emergency state to mrm state Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(mrm_emergency_stop_operator): add is_available logic Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): add use_comfortable_stop param Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * refactor(emergency_handler): rename getCurrentMRMBehavior Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): add mrm available status for ready conditions Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): add readme Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(mrm_comfortable_stop_operator): fix update rate Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * refactor(emergency_handler): move MRMBehaviorStatus msg to tier4_system_msgs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * feat(emergency_handler): describe new io for emergency_handler Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(emergency_handler): remove extra settings Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(mrm_emergency_stop_operator): fix is_available condition Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(mrm_emergency_stop_operator): fix typo Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove extra descriptions on config files Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(mrm_comfortable_stop_operator): fix typo Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * chore(mrm_comfortable_stop_operator): change words Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * chore(mrm_comfortable_stop_operator): change maintainer infomation Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(emergency_handler): fix acronyms case Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * chore(emergency_handler): add a maintainer Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(emergency_handler): fix to match msg changes Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(vehicle_cmd_gate): remove an extra include Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix * fix(emergency_handler): fix topic name spaces Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * fix(emergency_handler): fix acronyms case Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * chore(tier4_system_launch): add a mrm comfortable stop parameter Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

codecov-commenter · 2022-11-11T00:29:32Z

Codecov Report

Base: 11.78% // Head: 11.40% // Decreases project coverage by -0.38% ⚠️

Coverage data is based on head (a2bcd7c) compared to base (c7c078a).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@              Coverage Diff               @@
##           tier4/main     #176      +/-   ##
==============================================
- Coverage       11.78%   11.40%   -0.39%     
==============================================
  Files             248       12     -236     
  Lines           20975      807   -20168     
  Branches         6651      210    -6441     
==============================================
- Hits             2472       92    -2380     
+ Misses          16359      688   -15671     
+ Partials         2144       27    -2117

Flag	Coverage Δ
differential	`11.40% <0.00%> (-0.37%)`	⬇️

Impacted Files	Coverage Δ
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	`0.00% <0.00%> (-0.31%)`	⬇️
control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp	`0.00% <ø> (ø)`
...clude/emergency_handler/emergency_handler_core.hpp	`0.00% <ø> (ø)`
...r/src/emergency_handler/emergency_handler_core.cpp	`0.00% <0.00%> (ø)`
...r/src/emergency_handler/emergency_handler_node.cpp	`0.00% <0.00%> (ø)`
...op_operator/mrm_comfortable_stop_operator_core.cpp	`0.00% <0.00%> (ø)`
...stop_operator/mrm_emergency_stop_operator_core.cpp	`0.00% <0.00%> (ø)`
control/trajectory_follower/src/interpolate.cpp
control/trajectory_follower/src/mpc_trajectory.cpp
... and 242 more

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tier4-autoware-public-bot bot requested review from kenji-miyake, ito-san and TakaHoribe as code owners November 11, 2022 00:16

tier4-autoware-public-bot bot enabled auto-merge November 11, 2022 00:16

ito-san approved these changes Nov 11, 2022

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tier4-autoware-public-bot bot merged commit 6533058 into tier4/main Nov 11, 2022

tier4-autoware-public-bot bot deleted the sync-upstream branch November 11, 2022 00:33

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chore: sync upstream #176

chore: sync upstream #176

tier4-autoware-public-bot bot commented Nov 11, 2022

codecov-commenter commented Nov 11, 2022

chore: sync upstream #176

chore: sync upstream #176

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tier4-autoware-public-bot bot commented Nov 11, 2022

Features

codecov-commenter commented Nov 11, 2022

Codecov Report