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[pull] main from autowarefoundation:main #30

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[pull] main from autowarefoundation:main #30

wants to merge 92 commits into from

Commits on Mar 13, 2024

  1. refactor(pointcloud_preprocessor): publish noise points in ring outli… 

    …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>
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  2. fix: add cspell ignore for CTRV (#6606) 

    * 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
    @h-ohta
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  3. feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion n… 

    …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>
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  4. fix(shape_estimation): preserve irregular large size vehicle detected… 

    … 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>
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  5. feat(intersection_occlusion): quickly delete occlusion wall on change… 

    … from green to yellow/red (#6608)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
    @soblin
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  6. feat(pid_longitudinal_controller): add maker for stop reason (#6579) 

    * 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>

---------

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  7. feat(tier4_simulator_launch): add option to disable all perception re… 

    …lated modules (#6382)

Signed-off-by: Berkay Karaman <brkay54@gmail.com>
    @brkay54
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Commits on Mar 14, 2024

  1. perf(occupancy_grid_map_outlier_filter): improve performance (#5980) 

    * 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>
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  2. docs(diagnostic_graph_aggregator): update documents (#6613) 

    Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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  3. fix(multi_object_tracker): mot multi-step prediction is not work as i… 

    …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>
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  4. feat(pointcloud_preprocessor): add pipeline_latency_ms debug publishe… 

    …r to missed modules (#6569)

Signed-off-by: Berkay Karaman <brkay54@gmail.com>
    @brkay54
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Commits on Mar 15, 2024

  1. feat(diagnostic_graph_aggregator): update tools (#6614) 

    Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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  2. feat(multi_object_tracker): add object class filtering in tracking pr… 

    …ocess (#6607)

* feat: object class filter

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

* fix: set a member private

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

* fix: last filtered label is not useful, remove

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

* style(pre-commit): autofix

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

* fix: multiply gain for new class

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

* style(pre-commit): autofix

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

* chore: algorithm explanation

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

* fix: revise the filtering process flow

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

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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  3. fix(avoidance): the module ignored merging objects unexpectedly (#6601) 

    * feat(avoidance): output overhang lanelet

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): avoid merging vehicle if it's NOT on ego lane.

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): add flag to identify ambiguous vehicle

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(avoidance): add helper function

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(avoidance): rename param

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* chore(avoidance): update comment

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
    @satoshi-ota
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  4. fix(lane_change): consider max velocity during path planning (#6615) 

    Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
    @zulfaqar-azmi-t4
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  5. feat: add published_time publisher debug to packages (#6490) 

    Signed-off-by: Berkay Karaman <brkay54@gmail.com>
    @brkay54
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  6. fix(ndt_scan_matcher): avoid passing nullptr in ndt (#6620) 

    Avoid passing nullptr in ndt

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
    @SakodaShintaro
    SakodaShintaro authored Mar 15, 2024
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  7. ci: add pr-agent (#6632) 

    Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
    @xmfcx
    xmfcx authored Mar 15, 2024
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  8. ci(pr-agent): don't run automatically (#6634) 

    Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
    @xmfcx
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  9. feat(behavior_path_planner_common): add general method for calculatin… 

    …g turn signal for bpp modules (#6625)

add general method for calculating turn signal for bpp modules

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
    @danielsanchezaran
    danielsanchezaran authored Mar 15, 2024
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  10. feat(start_planner): move collision check to plan method (#6564) 

    * move collision check to a member function of planner base

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

* refactor

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

* add empty polygon and point checks

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

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
    @danielsanchezaran
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Commits on Mar 16, 2024

  1. feat(published_time_publisher): add unit test (#6610) 

    * feat(published_time_publisher): add unit test

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: add nullpointer test

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: simplify node and topic names

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: modify to test multiple PublishedTime publishers

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: change function name publish() -> publish_if_subscribed()

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: update

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

---------

Signed-off-by: Berkay Karaman <brkay54@gmail.com>
    @brkay54
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Commits on Mar 18, 2024

  1. feat(start_planner): add general turn signal method to start planner (#… 

    …6628)

* Add general turnSignal method to start planner

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

* add description to ignore signal

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

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
    @danielsanchezaran
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  2. fix(route_handler): detect looped road shoulders in getShoulderLanele… 

    …tSequence() (#6633)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
    @soblin
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  3. feat(pointcloud_preprocessor): make concatenate node to publish point… 

    …clouds in sensor frame (#6586)

* feat: make concatenate node to publish pointclouds in sensor frame

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

* chore: disable frame transform if not necessary

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

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
    @YoshiRi
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  4. fix(tier4_autoware_utils): fix build error (caused by `published_time… 

    …_publisher.hpp`) (#6641)

* fix(tier4_autoware_utils): add missing header to library

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(tier4_autoware_utils): remove std

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
    @satoshi-ota @takayuki5168
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  5. feat(behavior_path_avoidance_module): use the general calc turn signa… 

    …l method (#6626)

use the general calc turn signal method

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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  6. feat(start_planner): add a sanity check if the path is empty (#6643) 

    add a sanity check if the path is empty

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
    @danielsanchezaran
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  7. refactor(trajectory_follower_node): apply default param to the param … 

    …file used for test (#6640)

* apply default param to the param file used for test
delete unused test files

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* add positive longitudinal velocity condition for straight_trajectory test

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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  8. feat(lane_change_module): add general method to get turn signal for L… 

    …C module (#6627)

add general method to get turn signal for LC module

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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  9. refactor(obstacle_cruise_planner): move slow down params to a clear l… 

    …ocation (#6644)

move slow down params to a clear location

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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  10. ci(build-and-test-differential): bring back clang-tidy-differential j… 

    …ob (#6647)

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
    @xmfcx
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  11. fix(ar_tag_based_localizer): added 1 second wait to test (#6624) 

    Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
    @SakodaShintaro
    SakodaShintaro authored Mar 18, 2024
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  12. fix(tier4_autoware_utils): clang-tidy errors for published_time_publi… 

    …sher (#6651)

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
    @xmfcx
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  13. feat(avoidance): wait and see ambiguous stopped vehicle (#6631) 

    * feat(avoidance): wait and see the ambiguous stopped vehicle

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): wait and see objects around ego straight lane

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* tmp

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(avoidance): filtering logic for vehicle type objects

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): wait with unsafe avoidance path

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): use getRightLanelet

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(avoidance): parameterize

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Commits on Mar 19, 2024

  1. feat(dynamic_obstacle_stop): add option to ignore unavoidable collisi… 

    …ons (#6594)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
    @maxime-clem
    maxime-clem authored Mar 19, 2024
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  2. fix(behavior_velocity_run_out): construct predicted path up to max pr… ( 

    #6650)

* fix(behavior_velocity_run_out): construct predicted path up to max prediction time in object method

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* handle division by zero

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* add missing include

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

---------

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
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Commits on Mar 20, 2024

  1. refactor(pointcloud_preprocessor): move roi_mode_map_ definition insi… 

    …de DualReturnOutlierFilterComponent class (#6654)

move roi_mode_map_ definition inside DualReturnOutlierFilterComponent class

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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Commits on Mar 21, 2024

  1. fix(avoidance): don't slow down if avoidance is NOT definitely necess… 

    …ary during unsafe condition (#6355)

* fix(avoidance): don't slow down if avoidance is NOT definitely necessary during unsafe condition

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): don't insert stop point when the path is invalid

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(avoidance): update parameter namespace

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Commits on Mar 22, 2024

  1. fix(out_of_lane): use bigger stop lines to cut predicted paths (#6630) 

    Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
    @maxime-clem
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  2. feat: enable multithreading for the control container (#6666) 

    Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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  3. feat(dynamic_obstacle_stop): set velocity factor to ROUTE_OBSTACLE (#… 

    …6669)

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  4. feat(out_of_lane): set velocity_factor to ROUTE_OBSTACLE (#6668) 

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  5. feat(crosswalk): add velocity factor when slowing down (#6670) 

    Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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  6. fix(motion_utils): check size after overlap points removal (#6653) 

    * fix(motion_utils): check size after overlap points removal

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* change implementation to not return warning

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix comparison sign

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---------

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  7. feat(tier4_system_launch): add option to launch mrm handler (#6660) 

    Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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Commits on Mar 23, 2024

  1. fix(probabilistic_occupancy_grid_map): fix launch config name from ol… 

    …d one (#6663)

fix: fix launch config name from old one

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Commits on Mar 25, 2024

  1. fix(planning_validator): calculate max lateral acceleration after res… 

    …ampling trajectory (#6679)

fix planning validator calc max lat acc after resampling

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  2. test(ndt_scan_matcher): added an unit test to ndt_scan_matcher (#6649) 

    * Added an unit test to ndt_scan_matcher

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

* Added a line break

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* style(pre-commit): autofix

* Added includes

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* Fixed types

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* Fixed includes

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* Removed meaningless code

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* Fixed a way of waiting results

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* Fixed error handlings

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* Fixed position

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* Added NOLINT

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* Fixed sensor points

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* Fixed sample pcd

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* Fixed to execute multi test cases

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* Fixed StubPcdLoader

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* Refactored

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* Fixed pcd range

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* Fixed parameters

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* Fixed TransformBroadcaster to StaticTransformBroadcaster

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---------

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  3. feat(perception_online_evaluator): add yaw rate metrics for stopped o… 

    …bject (#6667)

* feat(perception_online_evaluator): add yaw rate metrics for stopped object

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add

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add test

* feat: add stopped vel parameter

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---------

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  4. chore(tier4_planning_launch): set log output both (#6685)

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Commits on Mar 26, 2024

  1. fix(out_of_lane): calculate path lanelets that we can miss during a l… 

    …ane change (#6600)

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  2. feat(goal_planner): add general turnsignalinfo method for goal planner ( 

    #6629)

add general turnsignalinfo method for goal planner

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  3. feat(goal_planner): add param reconfig to goal planner (#6646) 

    * Add param reconfig to goal planner

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

* Using the Warn params is bugged, wont fix

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

* add comments

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* add missing params

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* add missing param

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---------

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  4. feat(AEB): add height filter for avoiding the ghost brake by false po… 

    …sitive point clouds (#6637)

* feat(AEB): add height filter for avoiding the ghost brake by false positive point clouds

Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>

* docs(AEB): add param for height filter

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* feat(AEB): add max height range in AEB

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* feat(AEB): update default params

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---------

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  5. fix(vehicle_cmd_gate): fix publisher HZ in the unit test by introduci… 

    …ng variable window length (#6665)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
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Commits on Mar 27, 2024

  1. feat(default_ad_api): add door api (#5737) 

    Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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  2. fix(lane_change): do not return empty path if no valid path (#6686) 

    * fix(lane_change): do not return empty path if no valid path

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* style(pre-commit): autofix

---------

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  3. fix(avoidance_by_lane_change): object filtering too conservative (#6662) 

    * fix(avoidance_by_lane_change): object filtering too conservative

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* initialize last seen as RCL_ROS_TIME to prevent runtime error

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Remove object that is in the centerline

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* style(pre-commit): autofix

---------

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  4. feat(behavior_velocity_run_out_module): exclude obstacle crossing ego… 

    … back line (#6680)

* add method to ignore target obstacles that cross ego cut lane

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

* WIP add debug support

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

* add params and finish debug marker

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* change lane to line

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* use autoware utils to get the cut line

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* simplify code wit calcOffsetPose

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* Update readme and eliminate unused code

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* update readme

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* eliminate unused function

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* readme

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* comments and readme

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* eliminate unused include

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* typo

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* rename param for consistency

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* change lane to line for consistency

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* rename for clarity, add brief

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* fix indentation

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* update description

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* lane ->line

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* lane -> line

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---------

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  5. feat(run_out): add motorcyles to run out module target obstacles (#6690) 

    * feat(run_out): add motorcyles to run out module target obstacles

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

* check for obstacle type depending on params

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* update readme

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* pre-commit

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* include what you use

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---------

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  6. refactor(start planner): refactor for clarity, readability and maybe … 

    …performance (#6655)

* refactor plane method

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

* delete unused method

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* skip unnecessary loop

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---------

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Commits on Mar 28, 2024

  1. fix(goal_planner): stop path candidates update after arriving modifie… 

    …d goal (#6695)

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  2. perf(static_centerline_optimizer): cleanup the package dependencies (#… 

    …6697)

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  3. fix(freespace_planner): fix parking trajectory errors and warnings wh… 

    …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>
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Commits on Mar 29, 2024

  1. chore(tier4_system_launch): add option to select graph path depending… 

    … 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>
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  2. fix(dynamic_obstacle_stop,out_of_lane,crosswalk): update velocity fac… 

    …tor (#6711)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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  3. chore(blockage_diag): add dust diagnostic option param (#6645) 

    * 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

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---------

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  4. feat(dynamic_obstacle_stop): use a time buffer for each dynamic objec… 

    …ts (#6683)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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  5. refactor(image_projection_based_fusion): rename template argument (#6583 

    )

* refactor(image_projection_based_fusion): rename template argument

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

* style(pre-commit): autofix

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  6. docs(dynamic_avoidance): update doc (#6648) 

    * update doc
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  7. feat(crosswalk): ignore occlusions in the presence of traffic lights (#… 

    …6604)

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  8. fix(dynamic_obstacle_stop): fix run time error (#6714) 

    Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Commits on Mar 31, 2024

  1. docs(mpc_lateral_controller): modify mathjax visualization error (#6486) 

    * docs: modified mathjacs error

* test

* fix

* docs(mpc_lateral_controller): modify mathjax visualization error

Signed-off-by: root <root@DESKTOP-EP0T4HP>

---------

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  2. refactor(dynamic_obstacle_stop): change log level for processing time (… 

    …#6716)

change log level for processing time

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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Commits on Apr 1, 2024

  1. feat(default_ad_api): add dynamic_obstacle_stop velocity factor topic (… 

    …#6712)

add dynamic_obstacle_stop velocity factor to default ad_api
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  2. feat(default_ad_api): release adapi v1.2.0 (#6694) 

    Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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  3. feat(run_out_module): exclude obstacles on path (#6703) 

    * 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

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* add uuids to dynamic obstacle type

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* use lib funct to generate uuid

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* 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

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* change logic, ignore obstacle in path after some time passes

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* readme

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  4. feat(lane_change): additional debug markers (#6529) 

    Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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  5. feat(ndt_scan_matcher): fix first update map (#6699) 

    Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
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  6. feat(pose_initilizer): set intial pose directly (#6692) 

    * 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

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* style(pre-commit): autofix

* fix default quaternion

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* rename params

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* input quaternion validation

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* fix message

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* 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>
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  7. docs(lane_change): update documentation (#6544) 

    * 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>
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  8. feat(perception_online_evaluator): unify debug markers instead of sep… 

    …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>

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  9. feat(perception_online_evaluator): extract moving object for deviatio… 

    …n check (#6682)

fix test

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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  10. feat(start_planner): add validation check to prevent over cropped pat… 

    …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>

---------

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  11. feat(obstacle_avoidance_planner): sanitize reference points (#6704) 

    * 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>
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Commits on Apr 2, 2024

  1. fix(pose_initializer): added "user_defined_initial_pose" to dummy loc… 

    …alization (#6723)

Added "used_defined_initial_pose" to dummy localization

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
    @SakodaShintaro
    SakodaShintaro authored Apr 2, 2024
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  2. feat(static_centerline_optimizer): static centerline optimizer with G… 

    …UI (#6717)

feat: add GUI for static centerline optimizer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
    @takayuki5168
    takayuki5168 authored Apr 2, 2024
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  3. feat(multi_object_tracker): debug timer to work with reduced replay r… 

    …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>
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  4. fix(object_recognition_utils): check polygon area on iou calculation (#… 

    …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>

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  5. fix(predicted_path_checker): check if trajectory size (#6730) 

    check trajectory size

Signed-off-by: beyza <bnk@leodrive.ai>
Co-authored-by: beyza <bnk@leodrive.ai>
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    beyzanurkaya and beyzanurkaya authored Apr 2, 2024
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  6. fix(static_centerline_optimizer): fix latlon values of generated LL2 … 

    …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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