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…er filter (#6581) * - Renamed the `publish_excluded_points` flag to `publish_noise_points`. - Removed the `extractExcludedPoints` function - Defined `setUpPointCloudFormat` to consolidate duplicate processes - Renamed `horizontal_res` to `horizontal_resolution`. * change from publish_noise_points to publish_outlier_pointcloud * change namespace of topic Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
* fix: add cspell ignore for CTRV * Update perception/multi_object_tracker/CMakeLists.txt * Update perception/multi_object_tracker/CMakeLists.txt * Update perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp * Update perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp * Update perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
…ode (#5485) * add synchronized ogm fusion node Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add launch test for grid map fusion node Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix test cases input msg error Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * change default fusion parameter Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * rename parameter for ogm fusion Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: add multi_lidar_ogm generation method Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * enable ogm creation launcher in tier4_perception_launch to call multi_lidar ogm creation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix: change ogm fusion node pub policy to reliable Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix: fix to use lidar frame as scan frame Signed-off-by: Yoshi, Ri <yoshiyoshidetteiu@gmail.com> * fix: launcher node Signed-off-by: Yoshi, Ri <yoshiyoshidetteiu@gmail.com> * feat: update param name Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * chore: fix ogm pointcloud subscription Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: enable to publish pipeline latency Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: Yoshi, Ri <yoshiyoshidetteiu@gmail.com>
… by camera_lidar_fusion as unknown (#6598) * fix(shape_estimation): keep excluded objects as unknown Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add optional param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: rename param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
… from green to yellow/red (#6608) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
* feat(pid_longitudinal_controller): add maker for stop reason Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * minor fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
…lated modules (#6382) Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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* improve perfomance Signed-off-by: Taiga Takano <ttttghghnb554z@outlook.jp> * style(pre-commit): autofix Signed-off-by: Taiga Takano <ttttghghnb554z@outlook.jp> * fixed the bug and corrected the spelling mistake. Signed-off-by: Taiga Takano <ttttghghnb554z@outlook.jp> * style(pre-commit): autofix Signed-off-by: Taiga Takano <ttttghghnb554z@outlook.jp> * fix bug Signed-off-by: Taiga Takano <ttttghghnb554z@outlook.jp> * style(pre-commit): autofix Signed-off-by: Taiga Takano <ttttghghnb554z@outlook.jp> * change filter Signed-off-by: Taiga Takano <ttttghghnb554z@outlook.jp> --------- Signed-off-by: Taiga Takano <ttttghghnb554z@outlook.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
…ntended (#6611) * bugfix: mot multi-step prediction is not work as intended. back to one-step prediction. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: remove comment-out codes Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: prediction to use variable kalman filter a bug was found on `predictStateStep` methods * intention: predict the future state of the variable kalman filter `ekf` * bug: using the member kalman filter `ekf_` * fix: get the state vector from the variable kalman filter `ekf` Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…6697) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
…en parking completed (#6696) fix(freespace_planner): publish stop trajectory when completed to mitigate topic timeout Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>
… on running mode (#6700) chore(tier4_system_launch): add option of using graph path for simulation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
…tor (#6711) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
* fix: add dust diag option param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add debug image publish option param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
…ts (#6683) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
* update doc Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
…6604) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
* docs: modified mathjacs error * test * fix * docs(mpc_lateral_controller): modify mathjax visualization error Signed-off-by: root <root@DESKTOP-EP0T4HP> --------- Signed-off-by: root <root@DESKTOP-EP0T4HP> Co-authored-by: Daiki Sakanoue <sak@Daikis-MacBook-Air.local>
…#6716) change log level for processing time Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
…#6712) add dynamic_obstacle_stop velocity factor to default ad_api
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* WIP add check for target object in path Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP exclude obstacles on ego path Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use lat deviation to check if obstacle is on path or not Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete unused methods and variables Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * readme and comments Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add uuids to dynamic obstacle type Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use lib funct to generate uuid Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add timeout to keep last run out candidate for some time Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add time threshold to maintain obstacles that enter path Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change logic, ignore obstacle in path after some time passes Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * readme Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
* feat(pose_initilizer): set intial pose directly Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * fix arg order Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * minor change Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * remove blank lines Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * change types Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * add wait_for_service Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * fix default quaternion Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * rename params Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * input quaternion validation Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * fix message Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * add std::abs Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* docs(lane_change): update documentation Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update validity check flow chart Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * explanation for the valid paths Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add prerequisite in the requirement Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update diagram Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Edit the parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Explaining lane expansion Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix lane expansion document Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…arating for each object (#6681) * feat(perception_online_evaluator): unify debug markers instead of separating for each object Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix for Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…n check (#6682) fix test Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…hs (#6721) * add validation check to prevent over cropped paths Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use constexpr for magic number Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * make the threshold a param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* feat(obstacle_avoidance_planner): sanitize reference points Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * bugfix, first point was excluded Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
…alization (#6723) Added "used_defined_initial_pose" to dummy localization Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
…UI (#6717) feat: add GUI for static centerline optimizer Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
…ate recomputation (#6706) * fix: mot debug timer, full set of timings Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: reduce timers, rename topics Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: separate debugger Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: fix comments Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: fix stamp initialization, remove unused function Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
…6701) * feat(object_recognition_utils): check input polygon on IoU calculations Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: MIN_AREA close to the epsilon of float 1e-6 Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
check trajectory size Signed-off-by: beyza <bnk@leodrive.ai> Co-authored-by: beyza <bnk@leodrive.ai>
…map (#6727) * fix(static_centerline_optimizer): fix lat/lon value of generated LL2 map Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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