chore: sync upstream #168
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chore: sync upstream #168
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…2180) * feat(osqp_interface): add warm startup interface Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> Signed-off-by: yutaka <[email protected]>
…arefoundation#2107) * Add a hyper-parameter class to simplify parameter loading
…on#2181) * fix(default_ad_api): change motion state transition Signed-off-by: Takagi, Isamu <[email protected]> * fix: remove unused variable Signed-off-by: Takagi, Isamu <[email protected]> * fix: state order Signed-off-by: Takagi, Isamu <[email protected]> Signed-off-by: Takagi, Isamu <[email protected]>
…utowarefoundation#2183) Signed-off-by: Berkay Karaman <[email protected]> Signed-off-by: Berkay Karaman <[email protected]> Co-authored-by: Berkay Karaman <[email protected]>
…#2189) Signed-off-by: Takagi, Isamu <[email protected]> Signed-off-by: Takagi, Isamu <[email protected]>
…towarefoundation#2191) Signed-off-by: Berkay Karaman <[email protected]> Signed-off-by: Berkay Karaman <[email protected]> Co-authored-by: Berkay Karaman <[email protected]>
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Codecov ReportBase: 12.28% // Head: 13.05% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## tier4/main #168 +/- ##
==============================================
+ Coverage 12.28% 13.05% +0.76%
==============================================
Files 743 759 +16
Lines 60972 61820 +848
Branches 18417 19491 +1074
==============================================
+ Hits 7490 8069 +579
+ Misses 44867 44487 -380
- Partials 8615 9264 +649
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* feat(tier4_autoware_utils): add twist library Signed-off-by: scepter914 <[email protected]> * fix main merge Signed-off-by: scepter914 <[email protected]> * delete function Signed-off-by: scepter914 <[email protected]> * fix function Signed-off-by: scepter914 <[email protected]> Signed-off-by: scepter914 <[email protected]>
…ing (autowarefoundation#2090) * feat(perception_utils): add classification util function with string Signed-off-by: scepter914 <[email protected]> * add unit test Signed-off-by: scepter914 <[email protected]> * add include string Signed-off-by: scepter914 <[email protected]> * fix function interface Signed-off-by: scepter914 <[email protected]> * fix unit test Signed-off-by: scepter914 <[email protected]> * change function name Signed-off-by: scepter914 <[email protected]> * change to except throw Signed-off-by: scepter914 <[email protected]> Signed-off-by: scepter914 <[email protected]>
…2192) Signed-off-by: Takagi, Isamu <[email protected]> Signed-off-by: Takagi, Isamu <[email protected]>
* Initial commit with barebone SafeVelocityAdjustorNode Signed-off-by: Maxime CLEMENT <[email protected]> * Add debug topics, launch file, and config file Signed-off-by: Maxime CLEMENT <[email protected]> * Fix debug markers Signed-off-by: Maxime CLEMENT <[email protected]> * Fix dynamic parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Add proper collision detection and debug footprint Implements Proposal 1. Calculation of the adjusted velocity still needs to be improved Signed-off-by: Maxime CLEMENT <[email protected]> * Add script to compare the original and adjusted velocity profiles Signed-off-by: Maxime CLEMENT <[email protected]> * Fix calculation of distance to obstacle Signed-off-by: Maxime CLEMENT <[email protected]> * Add test for calculation collision distance Signed-off-by: Maxime CLEMENT <[email protected]> * Add launch file to test the safe_velocity_adjustor with a bag Signed-off-by: Maxime CLEMENT <[email protected]> * Cleanup code and add tests for forwardSimulatedVector Signed-off-by: Maxime CLEMENT <[email protected]> * Simplify collision detection by not using a footprint polygon Signed-off-by: Maxime CLEMENT <[email protected]> * Add filtering of the dynamic objects from the pointcloud Signed-off-by: Maxime CLEMENT <[email protected]> * [DEBUG] Print runtimes of expensive functions Signed-off-by: Maxime CLEMENT <[email protected]> * Add trajectory downsampling to boost performance + improve debug markers Signed-off-by: Maxime CLEMENT <[email protected]> * Modify velocity only from ego pose + distance parameter Signed-off-by: Maxime CLEMENT <[email protected]> * Add 1st Eigen version of distanceToClosestCollision + benchmark Signed-off-by: Maxime CLEMENT <[email protected]> * Switch to using contours from occupancy grid for collision checking Filtering of dynamic objects is not great Signed-off-by: Maxime CLEMENT <[email protected]> * Add buffer around dynamic obstacles to avoid false obstacle detection Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to limit the adjusted velocity Signed-off-by: Maxime CLEMENT <[email protected]> * Use vehicle_info_util to get vehicle footprint Signed-off-by: Maxime CLEMENT <[email protected]> * Calculate accurate distance to collision + add tests Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter for the min velocity where a dynamic obstacle is ignored Signed-off-by: Maxime CLEMENT <[email protected]> * Add README and some pictures to explain the node inner workings Signed-off-by: Maxime CLEMENT <[email protected]> * Update scenario_planning.launch.xml to run the new node Signed-off-by: Maxime CLEMENT <[email protected]> * Fix format of launch files Signed-off-by: Maxime CLEMENT <[email protected]> * Update launcher and rviz config used for debuging with bag Signed-off-by: Maxime CLEMENT <[email protected]> * Cleanup debug publishing Signed-off-by: Maxime CLEMENT <[email protected]> * Complete tests of collision_distance.hpp Signed-off-by: Maxime CLEMENT <[email protected]> * Add docstring + Small code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Improve test of occupancy_grid_utils Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug when setting parameter callback before getting vehicle parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Rename safe_velocity_adjustor to apparent_safe_velocity_limiter Signed-off-by: Maxime CLEMENT <[email protected]> * Move declarations to cpp file (apparent_safe_velocity_limiter_node) Signed-off-by: Maxime CLEMENT <[email protected]> * Move declarations to cpp file (occupancy_grid_utils) Signed-off-by: Maxime CLEMENT <[email protected]> * Move declarations to cpp file (collision_distance) Signed-off-by: Maxime CLEMENT <[email protected]> * Add exec of trajectory_visualizer.py in launch files Signed-off-by: Maxime CLEMENT <[email protected]> * Mask trajectory footprint from the occupancy grid (might be expensive) Signed-off-by: Maxime CLEMENT <[email protected]> * Filter out the occupancy grid that is outside the envelope polygon Signed-off-by: Maxime CLEMENT <[email protected]> * Add improved PolygonIterator using scan line algorithm Signed-off-by: Maxime CLEMENT <[email protected]> * Use autoware_cmake for dependencies Signed-off-by: Maxime CLEMENT <[email protected]> * Improve performances of PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * Minor cleanup of PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * Use improved iterator + add benchmark (max/avg/med) to node Signed-off-by: Maxime CLEMENT <[email protected]> * Minor code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Switch from set to vector/list in PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * Remove PolygonIterator and use implementation from grid_map_utils Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to limit deceleration when adjusting the velocity Signed-off-by: Maxime CLEMENT <[email protected]> * Code cleanup, move type decl and debug functions to separate files Signed-off-by: Maxime CLEMENT <[email protected]> * Add support for collision detection using pointcloud Signed-off-by: Maxime CLEMENT <[email protected]> * Code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Speedup pointcloud filtering (still ~100ms on bags) Signed-off-by: Maxime CLEMENT <[email protected]> * Improve envelope calculation and use separate node for pcd downsampling Signed-off-by: Maxime CLEMENT <[email protected]> * Add ProjectionParameters to prepare for the bicycle model projection Signed-off-by: Maxime CLEMENT <[email protected]> * Add bicycle projection with various steering offsets Signed-off-by: Maxime CLEMENT <[email protected]> * Update docstring Signed-off-by: Maxime CLEMENT <[email protected]> * Major refactoring, calculate envelope from footprints Signed-off-by: Maxime CLEMENT <[email protected]> * Add extraction of static obstacles from lanelet map Signed-off-by: Maxime CLEMENT <[email protected]> * Remove stopwatch Signed-off-by: Maxime CLEMENT <[email protected]> * Add arc distance calculation when using bicycle projection Signed-off-by: Maxime CLEMENT <[email protected]> * Fix multi geometry definitions in tier4_autoware_utils/boost_geometry Signed-off-by: Maxime CLEMENT <[email protected]> * Improve geometry operations to take advantage of Eigen Signed-off-by: Maxime CLEMENT <[email protected]> * Switch to min/max offset and simplify footprint calculations Signed-off-by: Maxime CLEMENT <[email protected]> * Fix unit tests (unset params.heading) Signed-off-by: Maxime CLEMENT <[email protected]> * Add option to filter obstacles using the safety envelope Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug with distance calculation and improve debug markers Signed-off-by: Maxime CLEMENT <[email protected]> * Update README Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to set map obstacles by linestring id (for debug) Signed-off-by: Maxime CLEMENT <[email protected]> * Move param structures to dedicated file and add PreprocessingParameters Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to calculate steering angle of trajectory points Signed-off-by: Maxime CLEMENT <[email protected]> * Cleanup footprint generation Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug with debug marker ids Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug where the VelocityParameters were not constructed Signed-off-by: Maxime CLEMENT <[email protected]> * Update obstacles extraction Signed-off-by: Maxime CLEMENT <[email protected]> * Minor code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Switch to collision detection using rtree Signed-off-by: Maxime CLEMENT <[email protected]> * Add publishing of the runtime (in microseconds) Signed-off-by: Maxime CLEMENT <[email protected]> * Add option to ignore obstacles on the trajectory Signed-off-by: Maxime CLEMENT <[email protected]> * Add max length and max duration parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Restructure Obstacles structure to separate lines and points for speedup Signed-off-by: Maxime CLEMENT <[email protected]> * Convert obstacle linestrings to segments when used in the rtree Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter for extra distance when filtering the ego path Signed-off-by: Maxime CLEMENT <[email protected]> * Fix issues caused by rebase Signed-off-by: Maxime CLEMENT <[email protected]> * Minor code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Update to run with looping bag replay Signed-off-by: Maxime CLEMENT <[email protected]> * Add debug markers for obstacle masks and only publish when subscribed Signed-off-by: Maxime CLEMENT <[email protected]> * Update README Signed-off-by: Maxime CLEMENT <[email protected]> * Fix humble build issue with PCL library Signed-off-by: Maxime CLEMENT <[email protected]> * Update obstacle extraction from lanelet map (no longer based on route) Signed-off-by: Maxime CLEMENT <[email protected]> * Optimize use of rtree + use naive collision checking with few obstacles Signed-off-by: Maxime CLEMENT <[email protected]> * Remove debug code and update default parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Do not wait for self pose Signed-off-by: Maxime CLEMENT <[email protected]> * Rename to obstacle_velocity_limiter Signed-off-by: Maxime CLEMENT <[email protected]> * More minor cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Update READEME.md Signed-off-by: Maxime CLEMENT <[email protected]> * Update README to have the purpose written before the illustration Signed-off-by: Maxime CLEMENT <[email protected]> * Update copyright notice: Tier IV -> TIER IV Signed-off-by: Maxime CLEMENT <[email protected]> * Remove use_sim_time param from node launch file Signed-off-by: Maxime CLEMENT <[email protected]> * Update launch files to run in the motion_planner + add launch config Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]>
* added the Butterworth filter class. Signed-off-by: ali <[email protected]> * added the Butterworth filter class: typo in frequency fixed. Signed-off-by: ali <[email protected]> * added the Butterworth filter class: ReadMe and documentations are updated. Signed-off-by: ali <[email protected]> * removed unused comments. Signed-off-by: ali <[email protected]> * removed unused comments. Signed-off-by: ali <[email protected]> * added new line. Signed-off-by: ali <[email protected]> * a type in the butterworth_filter_test.cpp is fixed. Signed-off-by: ali <[email protected]> * a type in the butterworth_filter_test.cpp is fixed. Signed-off-by: ali <[email protected]> * a typo fixed in the ButterworthFilter.md. Signed-off-by: ali <[email protected]> * // print("Phase angle x = ", x); comment is removed. Signed-off-by: ali <[email protected]> * Test fixture is cleaned. Signed-off-by: ali <[email protected]> * for loop implementations changed. Signed-off-by: ali <[email protected]> * linted. Signed-off-by: ali <[email protected]> * early return. Signed-off-by: ali <[email protected]> * commented cmakline removed. Signed-off-by: ali <[email protected]> * converting cout to ros log. Signed-off-by: ali <[email protected]> * converting cout to ros log for root printing. converting cout to ros log for root printing. converting cout to ros log for root printing. Signed-off-by: ali <[email protected]> * const <--> auto, int, double Signed-off-by: ali <[email protected]> * added signed-off commit. Signed-off-by: ali <[email protected]> * Typo correction. Continuous Signed-off-by: ali <[email protected]> * Early return in computeDiscreteTimeTF. Signed-off-by: ali <[email protected]> * Reducing code smell primitive obsession. Signed-off-by: ali <[email protected]> * Reducing code smell primitive obsession. Signed-off-by: ali <[email protected]> * Reducing code smell primitive obsession. Signed-off-by: ali <[email protected]> * typo correction. Signed-off-by: ali <[email protected]> * Typo and copyright correction. Signed-off-by: ali <[email protected]> * Applied pre-commit. Signed-off-by: ali <[email protected]> * Applied pre-commit. Signed-off-by: ali <[email protected]> * Spell-check fix. Signed-off-by: ali <[email protected]> * Spell-check fix. Signed-off-by: ali <[email protected]> Signed-off-by: ali <[email protected]>
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…n#2205) Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]>
…r PathPointWithLaneId (autowarefoundation#2206) Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]>
…on error (autowarefoundation#2204) * fix issue sligtly out of range due to double's calculation error Signed-off-by: Takayuki Murooka <[email protected]> * update test Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]>
* perf(intersection): reduce bg::within call Signed-off-by: Mamoru Sobue <[email protected]> * use lane interval for getStopLineFromMap too Signed-off-by: Mamoru Sobue <[email protected]> * changed index type to size_t Signed-off-by: Mamoru Sobue <[email protected]> * replace unsigned to size_t Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: Mamoru Sobue <[email protected]>
…able area (autowarefoundation#2196) Signed-off-by: Maxime CLEMENT <[email protected]>
…tion#2217) Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: Kenji Miyake <[email protected]>
Signed-off-by: GitHub <[email protected]> Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]>
…warefoundation#2199) * first commit Signed-off-by: kminoda <[email protected]> * remove align and NdtResults from ndt_scan_matcher Signed-off-by: kminoda <[email protected]> * rename variable Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * use getResult() function instead of executeScanMatching() Signed-off-by: kminoda <[email protected]> * for (auto...) -> for (const auto &...) Signed-off-by: kminoda <[email protected]> * removed unnecessary output_cloud declaration Signed-off-by: kminoda <[email protected]> Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
doc(behavior_velocity.traffic): fix typo
…dation#2221) * fixed int/uint for path index Signed-off-by: Mamoru Sobue <[email protected]> * reflected comments Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: Mamoru Sobue <[email protected]>
…#2212) * add-vehicle-pid-test * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* feat(pure_pursuit): add predicted trajectory Signed-off-by: Berkay Karaman <[email protected]> * ci(pre-commit): autofix * clear up Signed-off-by: Berkay Karaman <[email protected]> * Use operator || instead of or Signed-off-by: Berkay Karaman <[email protected]> * comment update Signed-off-by: Berkay Karaman <[email protected]> Signed-off-by: Berkay Karaman <[email protected]> Co-authored-by: Berkay Karaman <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: GitHub <[email protected]> Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]>
…ion#2232) refactor(vehicle_constants_manager)! : remove package Signed-off-by: Takayuki Murooka <[email protected]>
…foundation#2201) Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]>
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