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[pull] main from autowarefoundation:main #28

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takayuki5168 and others added 5 commits February 14, 2024 21:32
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
…lated tests (#6195)

* tmp modify for smoother

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* improve planning validator

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Revert "tmp modify for smoother"

This reverts commit a360bd0.

* remove undesired debug dependency

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix include guard

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* remove unintentional change

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* use acceleration to calculate required trajectory length

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix tests

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* remove debug comment

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

---------

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Signed-off-by: kminoda <koji.minoda@tier4.jp>
…id' (#6408)

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
HansRobo and others added 5 commits February 15, 2024 00:08
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…cted_objects = False (#6410)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
…n module (#6405)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
…e_instability_detector (#6416)

* Changed the interval_sec value of pose_instability_detector

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

* Fixed default value in json schema

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

---------

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
h-ohta and others added 9 commits February 15, 2024 07:54
…#5989)

Signed-off-by: Vincent Richard <richard-v@macnica.co.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
…lane (#6349)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
* docs(start_planner): update collision_check_distance_from_end

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* fix: change height downsize logic

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* changed inclusion model from sphere to cube

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
soblin and others added 29 commits March 7, 2024 15:35
…ly_route_lanes is false and the arg is shoulder type (#6567)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
* fix(emergency_handler): fix hazard status timeout

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <github-actions@github.com>
Added error handling about update_ndt

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
Co-authored-by: Anh Nguyen <anh.nguyen.2@tier4.jp>
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
…or used (#6497)

* feat(lidar_centerpoint): remove files those are no longer supported nor used

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* remove unnecessary file

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
* feat: add timeouts of request services

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

* feat: replace define with enum

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

* modify: renam a function

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: rename a function

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix functions name at the caller side

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
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* perf(scan_ground_filter): performance tuning

Signed-off-by: taisa1 <kento.osa@tier4.jp>

* perf(scan_ground_filter): improved performance

Signed-off-by: taisa1 <kento.osa@tier4.jp>

* chore: refactoring

Signed-off-by: taisa1 <kento.osa@tier4.jp>

* chore: refactoring

Signed-off-by: taisa1 <kento.osa@tier4.jp>

* refactor: reflect review

Signed-off-by: taisa1 <kento.osa@tier4.jp>

* style(pre-commit): autofix

* fix: remove unnecessary comment

Signed-off-by: taisa1 <kento.osa@tier4.jp>

* test: change unit test to use faster_filter

Signed-off-by: taisa1 <kento.osa@tier4.jp>

* test: fixed compile error

Signed-off-by: taisa1 <kento.osa@tier4.jp>

* fix: add lacking parameter callback

Signed-off-by: taisa1 <kento.osa@tier4.jp>

* fix: uninitialized valuabe

Signed-off-by: atsushi421 <atsushi.yano.2@tier4.jp>

---------

Signed-off-by: taisa1 <kento.osa@tier4.jp>
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* fix union sometimes returning empty polygon

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix union of polygons

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix back launcher

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* fix operation mode availability timeout

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
…6592)

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
… by red traffic signal (#6565)

fix(avoidance): don't avoid objects are farther than red signal traffic light

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…erception nodes (#6574)

* feat: fix processing time publisher

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* feat: add processing_time in detection_by_tracker

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* feat: add processing time publisher to shape estimator

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* feat: add latency time for association merger

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* feat: add processing time publisher for tracker merger

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* chore: rename pipeline latency in multi object tracker

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
…riangle (#6585)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
* fix(log-messages): lower log level from info to debug in concatenate_and_time_sync_nodelet for info about subscribing to topics and their names

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* fix(log-messages): adding info print in smart_pose_buffer indicating that there is a mismatch in timestamp

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* fix(log-messages): removing info msg that is redundant with error msg

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* fix(log-messages): lower some info msgs to debug

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

---------

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>
…error and overflow on IoU calculation (#6597)

* fix: set object minimum size limits

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: object shape conversion, from cylinder to bbox

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: adjust minimum sizes to 0.3 m

The minimum size is unified to a small number (0.3 m) to avoid side-effect of tracking.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
… sensor points (#6559)

* Added function to check maximum distance of sensor points

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

* style(pre-commit): autofix

* Added unit

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

* Fixed json schema

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

---------

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: add maintainer

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
* fix: define function to adjust object yaw angle for ekf update

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: refactoring

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: update tracking offset to object position

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: enlarge yaw noise when the orientation is unknown

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: rearrange obj extension,  noise model, observation vector length

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: grouping part of codes

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: separate object pre-process getUpdatingObject

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: bicycle tracker object preprocessing

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: separated motion model class, not tested

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: add motion model

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: replace tracker to motion model class

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: normal vehicle tracker replace to motion model

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: big vehicle tracker is replaced by motion model

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: bicycle tracker replace by motion model

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: remove non-used members

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: add CTRV motion model and implement it to pedestrian tracker

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: refactoring parameters

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: object initialization

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: grouping param setting

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: create cv motion model, not tested

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: implementing unknown tracker, process is dying

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: align number precisions to double

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: resolve overflow issue by including proper header files

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: missing twist cov

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: limit too large dt on unknown tracker, set size gain to 0.1

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: set parameter before init

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: fix init to initialize

chore: fix init to initialize
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: motion model base class

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: common methods to the base class

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: access to state vector

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: remove not-used tracker's last_update_time_ member

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Revert "fix: remove not-used tracker's last_update_time_ member"

This reverts commit bd8aabb.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: header cleanup

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: relocate motion models

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: timestamp const

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: exception when object couldn't be predicted

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: remove last_update_time_ member

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: set minimum size, to avoid iou error/overflow

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: rollback tracking size and offset algorithm

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: set minimum pedestrian size

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: adjust minimum sizes to 0.3m

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: cleanup unused members

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* chore(ci): expand the scope of spell-check-partial

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

* chore(cspell): clean up .cspell-partial.json

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

* chore(cspell): ignore words from bytetrack

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

* chore(cspell): rename spell-check-partial to spell-check

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

* chore(cspell): delete spell-check-all

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

* chore(cspell): leave spell-check-partial name for CI required settings

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

* chore(cspell): restore job name in spell-check-partial.yaml

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

* chore(cspell): add workflow dispatch trigger to spell-check-partial

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

---------

Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
…boundary (#6599)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@HansRobo HansRobo closed this Mar 13, 2024
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