feat: enable vehicle engage on manual driving #1051

TakaHoribe · 2022-06-07T05:12:32Z

Description

New feature to enable vehicle engaging (change from Manual to Autonomous mode) safely.

engage_transition_manager (new node): checks the engage availability (no strong acceleration, no fast steering, etc.) and ensures that the transition to Autonomous is completed properly
- TODO: multithreaded support for mode change service
- TODO: re-think engage_available condition
message definition: feat(tier4_vehicle_msgs): add new msgs for engage-on-driving tier4/tier4_autoware_msgs#36
vehicle_cmd_gate: add new filter used for transition state
pacmod_interface: enable control_mode_request
simple_planning_simulator: feat(simple_planning_simulator): add control_mode server #1061
motion_velocity_smoother: enable calculation from ego velocity when manual driving

Tests performed

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chore: sync upstream

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

chore: sync upstream

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

chore: sync upstream

* chore: sync files Signed-off-by: GitHub <noreply@github.com> * ci(pre-commit): autofix Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

…of diag name (#639)

chore: sync upstream

fix(obstacle_stop_planner): use utils function to caluculate nearest index from ego (#651)

* chore: sync files Signed-off-by: GitHub <noreply@github.com> * Revert "chore: sync files" This reverts commit b24f530. Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * sync codecov.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

…age (#666) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

chore: sync upstream

…834) Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix(system_monitor): fix build error on tegra platform Signed-off-by: Shark Liu <shark.liu@autocore.ai> * ci(pre-commit): autofix * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp Co-authored-by: Shark Liu <shark.liu@autocore.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>

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

chore: sync upstream

fix(vehicle_cmd_gate): initialization handling for emergency state (#1077)

chore: sync upstream

TakaHoribe · 2022-06-14T03:12:59Z

@yukkysaito Still WIP though. You can see the state transition code here.

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

chore: sync upstream

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

…into feature/engage-on-driving

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

TakaHoribe · 2022-07-07T23:26:51Z

Moved to #1246

…ormulation (autowarefoundation#4600) (autowarefoundation#1051) * feat(obstacle_avoidance_planner): re-formulate for faster QP * minor change * update * fix --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…ion#1051) * chore(deps): bump codecov/codecov-action from 3 to 4 Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 3 to 4. - [Release notes](https://github.com/codecov/codecov-action/releases) - [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md) - [Commits](codecov/codecov-action@v3...v4) --- updated-dependencies: - dependency-name: codecov/codecov-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> * add tokens too Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> --------- Signed-off-by: dependabot[bot] <support@github.com> Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt <mfc@leodrive.ai>

kenji-miyake and others added 30 commits January 24, 2022 18:00

Merge pull request #1 from autowarefoundation/tier4/proposal

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Merge pull request #3 from autowarefoundation/tier4/proposal

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ci: add sync-upstream.yaml (#4)

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Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Merge pull request #5 from tier4/sync-upstream

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ci(sync-upstream): update settings (#19)

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Merge pull request #17 from tier4/sync-upstream

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chore: sync files (#629)

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* chore: sync files Signed-off-by: GitHub <noreply@github.com> * ci(pre-commit): autofix Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

chore: sync files (#637)

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Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

fix(dummy_diag_publisher): use anon to make unique node name instead …

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…of diag name (#639)

Merge pull request #32 from tier4/sync-upstream

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Merge branch 'tier4/main' into sync-upstream

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Merge pull request #33 from tier4/sync-upstream

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Merge pull request #35 from tier4/sync-upstream

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fix(obstacle_stop_planner): use utils function to caluculate nearest index from ego (#651)

Merge pull request #36 from tier4/sync-upstream

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Merge pull request #43 from tier4/sync-upstream

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chore: sync upstream

fix(behavior_velocity): avoid insert same point on trajectory utils (#…

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…834) Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855)

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Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

TakaHoribe added 3 commits June 9, 2022 05:33

add control-mode in simulator

5a19f03

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

precommit

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

update

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

TakaHoribe force-pushed the feature/engage-on-driving branch 2 times, most recently from 5ac451b to 91f371c Compare June 9, 2022 14:36

yn-mrse and others added 4 commits June 10, 2022 20:36

Merge branch 'tier4/main' into sync-upstream

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Merge pull request #61 from tier4/sync-upstream

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chore: sync upstream

Merge pull request #63 from tier4/sync-upstream

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fix(vehicle_cmd_gate): initialization handling for emergency state (#1077)

Merge pull request #64 from tier4/sync-upstream

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chore: sync upstream

TakaHoribe changed the title ~~feature: enable vehicle engage on manual driving~~ feat: enable vehicle engage on manual driving Jun 14, 2022

TakaHoribe and others added 7 commits June 14, 2022 15:13

update readme

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

Merge pull request #65 from tier4/sync-upstream

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chore: sync upstream

[vehicle_cmd_gate] add transition filter

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

[engage_transition_manager] add pkg

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

update

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

fix gate

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

[vehicle_cmd_filter] minor refactor

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

TakaHoribe force-pushed the feature/engage-on-driving branch from a874937 to bbf0f58 Compare June 20, 2022 05:03

TakaHoribe added 5 commits June 20, 2022 15:49

tmp

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

change name

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

Merge remote-tracking branch 'origin/feature/simulator-control-mode' …

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…into feature/engage-on-driving

update state_transition_manager

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

[TMP] update simple_planning_simulator

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

TakaHoribe closed this Jul 7, 2022

TakaHoribe deleted the feature/engage-on-driving branch July 12, 2023 09:52

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feat: enable vehicle engage on manual driving #1051

feat: enable vehicle engage on manual driving #1051

TakaHoribe commented Jun 7, 2022 •

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TakaHoribe commented Jun 14, 2022

TakaHoribe commented Jul 7, 2022

feat: enable vehicle engage on manual driving #1051

feat: enable vehicle engage on manual driving #1051

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TakaHoribe commented Jun 7, 2022 • edited Loading

Description

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Tests performed

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TakaHoribe commented Jun 14, 2022

TakaHoribe commented Jul 7, 2022

TakaHoribe commented Jun 7, 2022 •

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