feat(plannig_error_monitor): update error sharp angle threshold #681
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added 2 commits
July 25, 2023 13:04
Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>
Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>
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* fix error_sharp_angle Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * update readme Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> --------- Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>
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* feat(system_error_monitor): manual modules (#793) * feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587) * feat(tier4_planning/vehicle_plugin): make plugins size scalable Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove space Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * scaling Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change diag message Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * fix module name Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * add manual module and ignoring modules Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Revert "feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587)" This reverts commit f96169c. * Revert "change diag message" This reverts commit dff01ce. * ci(pre-commit): autofix * fix spell check Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Revert "fix spell check" This reverts commit 208aa1e. * Revert "fix module name" This reverts commit cec7653. * revert ignore module Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * current_mode check update Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * ci(pre-commit): autofix * delete margin Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(ad_service_state_monitor): change configs name (#876) change configs name Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * feat(plannig_error_monitor): update error sharp angle threshold (#681) * fix error_sharp_angle Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * update readme Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> --------- Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * fix: add error handling when path is invalid (#934) * fix(behavior_path): delete duplicated * add error handling * fix: when path size is 1 * fix(detection_area): search collision index only in lanelet (#695) * fix(detection_area): search collision index only in lanelet * ci(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(detection_area): fix overline function (#930) * fix(detection_area): fix overline function * ci(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(route_handler): fix threshold for removing overlapping points (#1015) * fix(route_handler): fix threshold for removing overlapping points * fix * fix(ntp_monitor): move chronyc command execution to a timer (backport autowarefoundation#4634) (#880) fix(ntp_monitor): move chronyc command execution to a timer (autowarefoundation#4634) * fix(ntp_monitor): move chronyc command execution to a timer * add newly added parameter timeout to config --------- Signed-off-by: ito-san <fumihito.ito@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> * feat(elevation_map_loader): add error handling for std::runtime_error (backport autowarefoundation#4187) (#652) feat(elevation_map_loader): add error handling for std::runtime_error (autowarefoundation#4187) * feat(elevation_map_loader): Add error handling for std::runtime_error * feat(elevation_map_loader): add error message output --------- Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> * fix(system_monitor): extend command line to display (backport autowarefoundation#4553) (#768) fix(system_monitor): extend command line to display (autowarefoundation#4553) Signed-off-by: ito-san <fumihito.ito@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> * fix(system_monitor): high-memory process are not provided in MEM order (backport autowarefoundation#4654) (#769) fix(system_monitor): high-memory process are not provided in MEM order (autowarefoundation#4654) * fix(process_monitor): high-memory process are not being provided in %MEM order * changed option from 'g' to 'n' --------- Signed-off-by: ito-san <fumihito.ito@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> * fix(system_monitor): fix program command line reading (backport autowarefoundation#5191, autowarefoundation#5430) (#995) * perf(system_monitor): fix program command line reading (autowarefoundation#5191) * Fix program command line reading Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * fix spelling commandline->command_line Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(system_monitor): output command line (autowarefoundation#5430) * fix(system_monitor): output command line Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com> * feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729) (#856) * feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729) * feat(imu_corrector): add gyro_bias_validator Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert launch Signed-off-by: kminoda <koji.minoda@tier4.jp> * updat Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add debug publisher Signed-off-by: kminoda <koji.minoda@tier4.jp> * minor fix Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * style(pre-commit): autofix * add gtest Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * updat e readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add diagnostics Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * validator -> estimator Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix build Signed-off-by: kminoda <koji.minoda@tier4.jp> * update default parameter Signed-off-by: kminoda <koji.minoda@tier4.jp> * update comment Signed-off-by: kminoda <koji.minoda@tier4.jp> * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * updated Signed-off-by: kminoda <koji.minoda@tier4.jp> * minor update in readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * Fix NG -> WARN Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * build(imu_corrector): add missing diagnostic_updater dependency (autowarefoundation#4980) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * add gyro_bias estimation in diag ( autowarefoundation#5054) Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * ci(pre-commit): autofix --------- Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(imu_corrector): add gyro bias log (#918) add gyro_bias log Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * feat(system_error_monitor): add ignore_until_waiting_for_route module (#888) * add ignore_module Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * add description Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * ci(pre-commit): autofix * change name ignore_until_waiting_for_route Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * update description Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * rename function name and delete planning state Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * update description Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Update --------- Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> * feat(system_error_monitor): add ignore hartbeat timeout in initializing state (#972) * add ignore hartbeat timeout in initializing state Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * fix typo * Update comment * ci(pre-commit): autofix * fix typo * ci(pre-commit): autofix * update comment * ci(pre-commit): autofix --------- Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Signed-off-by: ito-san <fumihito.ito@tier4.jp> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com>
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Description
自動運転車両がクランク形状の車線で停車した場合に再発車できなくなる問題が発生した。
本PRはこの問題の対策実装である。
本問題の原因は、実運用のODDと設計での想定ODDとの不一致である。
経路計画には、通行が困難となる鋭角なカーブにおける発車を未然に防止する安全機構が備わっているが、
設計で想定される一般公道におけるODDと（特に工場内自動搬送における）実運用のODDとの間に乖離があるため、
物理的には通行可能なカーブにおいても安全機構の過剰反応により発車を阻害してしまう。
本PRでは上記安全機構におけるカーブの角度制約を適切な値に変更することで、工場内搬送における実運用において上記安全機構が適切に動作するように修正する。
詳細設定値
本リポジトリは多種多様な車種での利用を想定している。
机上検討の結果、設定値を2.0 [rad]とすることで現時点弊社が想定する全ての車種へ適合可能であることが判明した。
（この値は https://github.com/tier4/autoware.universe/tree/tier4/main/planning/planning_validator#thresholds でも採用されている）
本PRではこの値を流用したうえで、実運用としての機能成立性を確認する。
Related links
https://tier4.atlassian.net/browse/AEAP-565
Tests performed
実運用で利用されているクランクを含む地図にて、クランク中に停車し再発車出来る事を確認済み。
（Psim、サンプル数=10）
運用で通常想定されない通行困難なカーブにおいて任意の地点で停車した場合に再発車を防止できることを確認済み
（PSim, サンプル数=10）
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