Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

feat(motion_velocity_smoother): add steering rate limit while planning velocity #1071

Merged
merged 3 commits into from
Sep 7, 2022
Merged

feat(motion_velocity_smoother): add steering rate limit while planning velocity #1071

merged 3 commits into from
Sep 7, 2022

Conversation

brkay54
Copy link
Member

@brkay54 brkay54 commented Jun 9, 2022 •
edited by mehmetdogru
Loading

Description

Closes #1023
Discussion
Related #567

Autoware do not depend the steering angle rate. In lateral controller, we can set steering_rate_limit (here). However, when lower steering_rate_limit is set, the states that are calculated by lateral_controller are seem good. But longitudinal controller can not handle, It should slow down the vehicle because of low steering_angle_rate but it is not. And vehicle could not turn over the high curvature paths.

To solve this problem, I added new function into motion_velocity_smoother in smoother_base called applySteeringRateLimit. This function runs in following order:

  • Resample trajectory
  • Calculate the desired steering tire angles with following equation:
    desired_steering_angle_eq
  • Calculate the desired velocities with respect to current velocity and desired steering angle

Related links

Tests performed

Notes for reviewers

You can change the steering tire rate limit with the param in lateral controller. Also, you should check the parameters in motion_velocity_smoother.param.yaml.
Please consider the min_curve_velocity parameter, if vehicle can not turn in the curves.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
  • The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.
  • The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

@brkay54 brkay54 added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jun 9, 2022
@brkay54 brkay54 requested review from TakaHoribe and mehmetdogru June 9, 2022 14:12
@brkay54 brkay54 self-assigned this Jun 9, 2022
@brkay54 brkay54 changed the title Add steer rate to motion velocity planner Add steer rate limit to motion velocity planner Jun 9, 2022
@brkay54 brkay54 force-pushed the add-steer-rate-to-motion-velocity-planner branch from 9085335 to 0f48b40 Compare June 9, 2022 14:20
@codecov
Copy link

codecov bot commented Jun 9, 2022 •
edited
Loading

Codecov Report

Merging #1071 (cf17866) into main (c211845) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1071      +/-   ##
==========================================
- Coverage   10.41%   10.37%   -0.04%     
==========================================
  Files        1218     1218              
  Lines       87494    87785     +291     
  Branches    20485    20528      +43     
==========================================
  Hits         9109     9109              
- Misses      68925    69216     +291     
  Partials     9460     9460
Flag Coverage Δ *Carryforward flag
differential 3.57% <0.00%> (?)
total 10.39% <0.00%> (ø) Carriedforward from c211845

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
...ity_smoother/src/motion_velocity_smoother_node.cpp 0.00% <0.00%> (ø)
...n_velocity_smoother/src/smoother/smoother_base.cpp 0.00% <0.00%> (ø)

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

@brkay54 brkay54 force-pushed the add-steer-rate-to-motion-velocity-planner branch from ff61555 to 310146b Compare June 9, 2022 15:06
@brkay54 brkay54 changed the title Add steer rate limit to motion velocity planner feat(motion_velocity_smoother): Add steer rate limit to motion velocity planner Jun 9, 2022
@brkay54 brkay54 changed the title feat(motion_velocity_smoother): Add steer rate limit to motion velocity planner feat(motion_velocity_smoother): add steering rate limit while planning velocity Jun 9, 2022
brkay54 pushed a commit to brkay54/autoware.universe that referenced this pull request Jun 9, 2022
feat(motion_velocity_smoother): add steering rate limit while plannin…
9568f02 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>
@brkay54 brkay54 force-pushed the add-steer-rate-to-motion-velocity-planner branch from a3fd7df to eb29786 Compare June 9, 2022 15:12
brkay54 pushed a commit to brkay54/autoware.universe that referenced this pull request Jun 27, 2022
feat(motion_velocity_smoother): add steering rate limit while plannin…
343dcec 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>
@brkay54 brkay54 force-pushed the add-steer-rate-to-motion-velocity-planner branch from ab1ea8a to ec3cd8e Compare June 27, 2022 10:25
brkay54 pushed a commit to brkay54/autoware.universe that referenced this pull request Jun 27, 2022
feat(motion_velocity_smoother): add steering rate limit while plannin…
385ad6d 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>
@brkay54 brkay54 force-pushed the add-steer-rate-to-motion-velocity-planner branch from ec3cd8e to 32c0de3 Compare June 27, 2022 11:59
@brkay54 brkay54 marked this pull request as draft June 27, 2022 15:22
@brkay54 brkay54 force-pushed the add-steer-rate-to-motion-velocity-planner branch 2 times, most recently from c9ce0c3 to ccebd04 Compare June 28, 2022 13:12
@brkay54 brkay54 marked this pull request as ready for review June 28, 2022 13:15
yukkysaito added a commit to yukkysaito/autoware.universe that referenced this pull request Jun 29, 2022
@tkimura4 @mitsudome-r
@yukkysaito @kenji-miyake @wep21 @kmiya @nnmm @sgermanserrano @esteve @jilaada @0x126 @isamu-takagi @TakaHoribe @vios-fish @adamdbrw @yk-fujii @KeisukeShima @h-ohta @satoshi-ota @taikitanaka3 @tier4-autoware-private-bot @takayuki5168 @kyoichi-sugahara
feat: add obstacle_stop_planner packages (autowarefoundation#93)
357dfae 
* release v0.4.0

* Feature/stop reason (autowarefoundation#712)

* add stop reason msg

* add mock of stop resaon publisher

* change namespace of stop reason

* update stop reason msg

* add toRosPoint

* implement stop reason publisher of blind stop

* implement stop reason publisher of crosswalk

* implement stop reason publisher of intersection

* implement stop reason publisher of stop line

* implement stop reason publisher of trafficlight

* implement stop reason publisher of detection area

* fix bug

* remove unnecessary process

* add remained stop factor

* clean code

* fix bug

* not punlish stop reason if array size is 0

* add stop reason to stuck object in intersection

* add stop factor of obstacle stop planner

* add stop reason of surround_obstacle checker

* Apply review

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

* fix message type

* delete unused message from cmake

* remove stopReasonStamped

* change topic name of stop reasons

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix/stop reason (autowarefoundation#724)

* input stop reason of traffic light

* add comment

* add empty traffic light handling

* change calculation method of traffic light position

* avoid 0 position output

* add debug values of adaptive cruise control (autowarefoundation#742)

* add debug values of adaptive cruise control

* add rqt config file

* cosmetic change (autowarefoundation#738)

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* Fix/acc same pointcloud (autowarefoundation#743)

* add handling with same pointcloud

* clean code

* add obstacle_stop_planner.yaml (autowarefoundation#766)

* add stop_planner.yaml

* change file name

* add explanation of the parameters

* fix wrong start index (autowarefoundation#745)

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* Feature/smooth adaptive cruise (autowarefoundation#789)

* change param

* do not insert max velocity near the ego vehicle position

* Change min_slow_down_vel to 3kmph (autowarefoundation#796)

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

* Remove duplicated param (autowarefoundation#797)

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

* Feature/lowpass adaptive cruise control (autowarefoundation#802)

* add lowpass filter

* update xml

* change the method of insert velocity

* change parameter

* change default lowpass gain in acc (autowarefoundation#820)

* change default deceleration in acc

* change lowpass gain

* Reduce calc cost of slow down (#826)

* Cosmetic change

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix rough search range

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add circle inside/outside judgement

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Apply clang

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix uninitialized variables (autowarefoundation#816)

* Revert "Reduce calc cost of slow down (#826)" (autowarefoundation#832)

This reverts commit 845ab7b1b90f8817c8fcb12880b5af6f78c2b183.

* Reduce calc cost stop planner (autowarefoundation#833)

* Reduce calc cost of slow down (#826)

* Cosmetic change

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix rough search range

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add circle inside/outside judgement

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Apply clang

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Parameterize step length

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix search range

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "remove ROS1 packages temporarily"

This reverts commit dae63c141d17c2c7d0402ca2b9c5c1f008101631.

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Rename launch files to launch.xml (autowarefoundation#28)

* Port obstacle stop planner (autowarefoundation#86)

* Port to ROS2

Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org>

* Use autoware_debug_msgs

Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org>

* Fix variable name

Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org>

* Fix launch files (autowarefoundation#122)

* [surround_obstacle_checker] add parameter and arguments to launch file

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [obstacle_stop_planner] modify launch file to remap trajectory from argument

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [obstacle_avoidance_planner] modify launch file to remap topics from arguments

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [motion_velocity_optimizer] modify launch file to enable remapping from argument

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Convert calls of Duration to Duration::from_seconds where appropriate (autowarefoundation#131)

* Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143)

* Use quotes for includes where appropriate (autowarefoundation#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

* Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151)

* Run uncrustify on the entire Pilot.Auto codebase

* Exclude open PRs

* Added linters to obstacle_stop_planner (autowarefoundation#154)

* Added linters to obstacle_stop_planner

* Remove use of deprecated ConstPtr

* Remove use of deprecated ::Ptr

* Removed unused variables

* Fix sign mismatches

* Fix non-void returns

* Fix cpplint error

* Fix sign mismatching

Co-authored-by: Jilada Eccleston <jilada.eccleston@tier4.jp>

* Ros2 v0.8.0 obstacle stop planner (autowarefoundation#300)

* rename before v0.8.0 update

* Update default parameters of slow_down_planner (autowarefoundation#846)

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

* Fix missing break (autowarefoundation#855)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix slow down param (autowarefoundation#871)

* Fix typos in planning modules (autowarefoundation#866)

* fix typos in planning

* fix corresponding typos in planning

* revert fixed typos temporarily due to its impact on launchers

* enable to change acc_param file from arg (autowarefoundation#997)

* Feature/refactor obstacle stop planner (autowarefoundation#1000)

* devide functions

* add StopPoint and SlowDownPoint structure

* apply clang-format 6.0

* Feature/update adaptive cruise control (autowarefoundation#995)

* avoid upper velocity chattering

* add option to use  rough velocity estimation

* fix typo

* apply format

* fix comment

* change min velocity by PID (autowarefoundation#1008)

* Feature/obstacle stop after goal margin (autowarefoundation#957)

* devide functions

* add StopPoint and SlowDownPoint structure

* apply clang-format 6.0

* add extend trajectory method

* change extend_distance default value to 0.0

* does not insert when insert point over output_msg points size

* fix acc limit (autowarefoundation#1015)

* Feature/compensate lidar delay to acc (autowarefoundation#1032)

* add compensation to calc dist

* change compensation way

* delete debug output

* separate emerngecy stop param (autowarefoundation#1033)

* improve accuracy of insert stop pose (autowarefoundation#1034)

* add error handling (autowarefoundation#1037)

* expand stop param (autowarefoundation#1068)

* add param

* add awapi topic

Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix default param (autowarefoundation#1071)

* Add expand_stop_range to obstacle_stop_planner.yaml (autowarefoundation#1084)

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

* Revert "rename before v0.8.0 update"

This reverts commit 395c529ee1a854db35ee4f4d517da2dfb401914c.

* fix clock & restore include guard

* fix code style

* fix node

* fix params

* nest acc params

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* Ros2 v0.8.0 remove std msgs awapi (autowarefoundation#348)

* [autoware_vehicle_msgs] add BatteryStatus msg

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* remove std_msgs related to autoware_awaiv_adapter node

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* apply ament_uncrustify

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* fix build failure

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* fix test failures

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* address review commends

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Rename ROS-related .yaml to .param.yaml (autowarefoundation#352)

* Rename ROS-related .yaml to .param.yaml

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

* Remove prefix 'default_' of yaml files

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

* Rename vehicle_info.yaml to vehicle_info.param.yaml

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

* Rename diagnostic_aggregator's param files

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

* Fix overlooked parameters

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

* fix insert slow down point bug (autowarefoundation#1159) (autowarefoundation#376)

* fix slow down insert slow down point bug

* refactor code

Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>

* fix implement miss (autowarefoundation#409)

* Sensor data qos (autowarefoundation#407)

* Use sensor data qos for pointcloud preprocessor

Signed-off-by: Autoware <autoware@tier4.jp>

* Use sensor data qos for pointcloud

Signed-off-by: Autoware <autoware@tier4.jp>

* Fix lint

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Use sensor data qos for livox tag filter and vector map filter

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix lint

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Autoware <autoware@tier4.jp>

* Ros2 fix topic name part1 (autowarefoundation#408)

* Fix topic name of lane_departure_checker debug

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of mpc_follower debug

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of velocity_controller debug

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of motion_velocity_optimizer debug

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of lane_change_planner debug

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of behavior_velocity_planner debug

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of obstacle_avoidance_planner debug

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of motion_velocity_optimizer

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of lane_departure_checker

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of mpc_follower

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of velocity_controller

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of lane_change_planner

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of obstacle_avoidance_planner

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of obstacle_stop_planner

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of freespace_planner

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of surround_obstacle_checker

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of emergency_handler

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint errors

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix typo

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* add use_sim-time option (autowarefoundation#454)

* Fix rolling build errors (autowarefoundation#1225)

* Add missing include files

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

* Replace rclcpp::Duration

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

* Use reference for exceptions

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

* Use from_seconds

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

* Sync public repo (autowarefoundation#1228)

* [simple_planning_simulator] add readme (autowarefoundation#424)

* add readme of simple_planning_simulator

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

* Update simulator/simple_planning_simulator/README.md

* set transit_margin_time to intersect. planner (autowarefoundation#460)

* Fix pose2twist (autowarefoundation#462)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Ros2 vehicle info param server (autowarefoundation#447)

* add vehicle_info_param_server

* update vehicle info

* apply format

* fix bug

* skip unnecessary search

* delete vehicle param file

* fix bug

* Ros2 fix topic name part2 (autowarefoundation#425)

* Fix topic name of traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_visualization

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_map_based_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_recognition

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix issues in hdd_reader (autowarefoundation#466)

* Fix some issues detected by Coverity Scan and Clang-Tidy

* Update launch command

* Add more `close(new_sock)`

* Simplify the definitions of struct

* fix: re-construct laneletMapLayer for reindex RTree (autowarefoundation#463)

* Rviz overlay render fix (autowarefoundation#461)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* uncrustified

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* back to RTD as superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Rviz overlay render in update (autowarefoundation#465)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* uncrustified

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* removed unnecessary includes and some dead code

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* restored RTD superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com>
Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai>

* Unify Apache-2.0 license name (autowarefoundation#1242)

* Make planning modules components (autowarefoundation#1263)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix miss spell (autowarefoundation#1268)

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Refactor vehicle info util (autowarefoundation#1305)

* Update license

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

* Refactor vehicle_info_util

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

* Rename and split files

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

* Fix interfaces

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

* Fix bug and add error handling

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

* Add "// namespace"

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

* Add missing include

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

* add config file of plot juggler (autowarefoundation#1328)

* Add pre-commit (autowarefoundation#1560)

* add pre-commit

* add pre-commit-config

* add additional settings for private repository

* use default pre-commit-config

* update pre-commit setting

* Ignore whitespace for line breaks in markdown

* Update .github/workflows/pre-commit.yml

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* exclude svg

* remove pretty-format-json

* add double-quote-string-fixer

* consider COLCON_IGNORE file when seaching modified package

* format file

* pre-commit fixes

* Update pre-commit.yml

* Update .pre-commit-config.yaml

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: pre-commit <pre-commit@example.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

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

* Fix mistake

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

* fix spell

* Fix lint issues

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

* Ignore flake8 warnings

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

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>

* Fix compiler warnings (autowarefoundation#1837)

* Fix -Wunused-private-field

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

* Fix -Wunused-variable

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

* Fix -Wformat-security

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

* Fix -Winvalid-constexpr

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

* Fix -Wdelete-non-abstract-non-virtual-dtor

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

* Fix -Wdelete-abstract-non-virtual-dtor

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

* Fix -Winconsistent-missing-override

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

* Fix -Wrange-loop-construct

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

* Fix "invalid application of 'sizeof' to an incomplete type"

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

* Ignore -Wgnu-anonymous-struct and -Wnested-anon-types

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

* Fix lint

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

* Ignore -Wno-deprecated-declarations in CUDA-related packages

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

* Fix mistake

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

* Fix -Wunused-parameter

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

* suppress warnings for planning (autowarefoundation#1893)

* add Werror

* add maybe_unused

* fix estm -> estimate

* fix some typos (autowarefoundation#1941)

* fix some typos

* fix typo

* Fix typo

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

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix calc_dist in acc (autowarefoundation#1945)

* fix calc_dist in acc

* use baselink2front

* remove unused variable

* fix

* add sort-package-xml hook in pre-commit (autowarefoundation#1881)

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

* apply pre-commit

* Feature/changeable slow down margin (autowarefoundation#1546) (autowarefoundation#1726)

* Feature/changeable slow down margin (autowarefoundation#1546)

* start slow down at SlowDownStart

* add publisher for debug

* update slow down planner implementation

* delete unnecessary publisher

* change function name

* apply clang-format

* refactoring

* refactoring & apply clang-format

* add virtual wall marker

Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>

* Fix typo

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Apply uncrustify

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Apply cpplint

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix package.xml

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Remove unused variable

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>

* Fix/not appropriate velocity overwrite (autowarefoundation#1750)

* fix not appropriate velocity overwrite

* apply format

* cleanup/wrap planner params by using struct (autowarefoundation#1788)

* wrap planner params by using struct

* move bg alias & add address operator

* improve readability of loading parameters

* remove unsuitable vehicle_info alias

* remove unsuitable slow_down/stop planner param alias

* add struct NodeParam

* move using define

* change param order

Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>

* improvement/replace several lines with autoware_utils func (autowarefoundation#1783)

* clean up

* remove redundant blank line

* LINE_STRIP -> LINE_LIST

Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>

* Refactor/obstacle stop planner (autowarefoundation#1811)

* use autoware_utils getRPY()

* use point alias & rename variables

* use TrajectoryPoint instead of Eigen::Vector2d

* split insertSlowDownSection() into two part

* use trajectory point alias

* change variables order

* fix build error

* use std::numeric_limits::epsilon() & small change

* add address operator

* fix typo

* apply format

* update TrajectoryPoint insert condition

* use std::hypot

* change alias name

* move using alias & remove unnesessary include

* remove an unnecessary variable

* improve readability

* undo the insert min dist

* remane variables & improve readability

* fix redundant variables name

* tmp : remove scope

* remove unnecessary alias

* rename alias to improve readability

* p_end -> p_back

* undo partial rename

* undo calc order modification

* undo split insertSlowDownSection() into two parts

* prevent TrajectoryPoint overlapping

* remove unnecessary file

* undo logic modification

* initialize struct

* fix constraints

* fix indent

* improve struct initialize

* remove redundant address operator

* initialize TrajectoryPoint

* guard invalid index

* remove std::min

Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>

* Fix/obstacle search radius in obstacle stop planner (autowarefoundation#1823)

* guard activation both of slow down and stop by a collision obstacle

* fix obstacle search radius bug

* fix indent

* rename variables

* not deactivate slow down planning

* initialize index

* remove .swp

Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>

* set initial value of lowpass filter in acc (autowarefoundation#1880)

* set initial value of lowpass filter in acc

* add space

* Feature/add obstacle stop doc (autowarefoundation#1890)

* add base doc.

* add svg files

* add flow chart

* add roles

* fix svg

* add discription of flowchart

* add figure to readme

* fix typo

* add plantuml

* fix typo

* upper velocity -> target velocity

* add svg

* add more dicription of stop/slow down planner

* add adaptive cruise document

* fix typo

* apply markdown lint

* fix format

* fix format

* fix svg

* fix typo

* fix format

* Update planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/README.md

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* Update planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/README.md

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* add adaptive cruise description

* fix deceleration range

* fix description of slow down planner

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* add maybe unused (autowarefoundation#1908)

* prevent chattering in adaptive cruise  (autowarefoundation#1954)

* fix typo

* update readme

* add description

* add two threhold of obstacle velocity

* fix calc_dist in acc (autowarefoundation#1945)

* fix calc_dist in acc

* use baselink2front

* remove unused variable

* fix

* remove unused arg (autowarefoundation#1971)

* improve/commonize calc  insert point function (autowarefoundation#1825)

* add insert function

* fix typo

* remove unnecessary address operator

* use common function

* index small change

* rename variables

* fix loop condition

* fix loop condition no use static_cast

* remove .swp

* update insert inplementation

* fix dist_remain plus/minus

* improve readability

Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>

* Fix package.xml (autowarefoundation#2056)

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

* fix obstacle stop (autowarefoundation#2083) (autowarefoundation#2086)

Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* Feature/keep slow down speed until end point of slow down section (autowarefoundation#1985)

* modify logic: not escape slow down until slow down section end

* refactor: add findNearestFrontIndex()

* remove unused argument & function

* improve readability

* add utility func

* modify logic condition

* fix for createQuaternionFromRPY/Yaw (autowarefoundation#2154)

* fix unexpected slow down in sharp curves (autowarefoundation#2181)

* Fix/insert implementation (autowarefoundation#2186)

* Feature/consider jerk by using external velocity limit (autowarefoundation#2158)

* consider jerk and acc constraint in slow down

* use external velocity limit

* consider constraints

* add publisher for debug

* publish jerk/acc constraints

* add undershoot measures

* add plotjuggle config (slow down planner)

* fix unexpected speed up

* update undershoot guard

* bool initialize

* support new VelocityLimit.msg

* smplify velocity limit logic

* improve readability

* clean up debug publisher

* use planner data

* add publishDebugData()

* clean up trajectory preprocess

* add bad index detection

* split a huge process into two parts

* fix typo(threshould -> threshold)

* use limit selector

* add comment

* update plotjuggler config

* update member variables

Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>

* Fix/use common planning param (autowarefoundation#2246)

* use common planning param

* jerk_min_slow_down -> slow_down_min_jerk

* fix velocity threshold (autowarefoundation#2264)

* Fix/trajectory preprocess (autowarefoundation#2285)

* fix preprocess

* add index guard

* Change formatter to clang-format and black (autowarefoundation#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

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

* Remove ament_cmake_uncrustify and ament_clang_format

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

* Apply Black

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

* Apply clang-format

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

* Fix build errors

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

* Fix for cpplint

* Fix include double quotes to angle brackets

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

* Apply clang-format

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

* Fix build errors

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

* Add COLCON_IGNORE (autowarefoundation#500)

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

* Auto/obstacle stop planner (autowarefoundation#531)

* delete COLCON_IGNORE

* port obstacle stop planner

* run pre commit

* add nav_msgs

* type conversion

* [apply_predicted_obj_type] adapt to autoware auto msgs (autowarefoundation#564)

* fix obj shape

* fix obj shape

* fix goal pose

* rename topic name twist -> odometry (autowarefoundation#568)

Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>

* update iv_msgs -> auto_msgs in planning readme (autowarefoundation#576)

* update iv_msgs -> auto_msgs in planning readme

* minor change

* some fix

* some fix

Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>

* Auto/fix obstacle stop planner (#678)

* change trajectory to trajectory point in node

* update

* update

* delete comment

* fix invalidContainerReference

* substitute header to output

Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* mix readme

* add common param

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Nikolai Morin <nnmmgit@gmail.com>
Co-authored-by: Servando <43142004+sgermanserrano@users.noreply.github.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Esteve Fernandez <esteve@apache.org>
Co-authored-by: Jilada Eccleston <jilada.eccleston@tier4.jp>
Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Co-authored-by: Autoware <autoware@tier4.jp>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com>
Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai>
Co-authored-by: Yusuke FUJII <yusuke.fujii@tier4.jp>
Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Co-authored-by: pre-commit <pre-commit@example.com>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: satoshi-ota <satoshi.ota@gmail.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com>
Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>
@xmfcx xmfcx added this to the Bus ODD July-Aug Milestone milestone Jul 19, 2022
brkay54 pushed a commit to brkay54/autoware.universe that referenced this pull request Jul 19, 2022
feat(motion_velocity_smoother): add steering rate limit while plannin…
11413b5 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>
brkay54 pushed a commit to brkay54/autoware.universe that referenced this pull request Jul 20, 2022
feat(motion_velocity_smoother): add steering rate limit while plannin…
93447c9 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>
@xmfcx
Copy link
Contributor

xmfcx commented Aug 16, 2022

This is being tested on the ISUZU bus right now, the updates will be shared after testing.

voltonomous added a commit to vautonomous/autoware.universe that referenced this pull request Aug 17, 2022
@voltonomous
feat(motion_velocity_smoother): add steering rate limit while plannin…
d9b49ff 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>

Update readme

update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix
voltonomous added a commit to vautonomous/autoware.universe that referenced this pull request Aug 18, 2022
@voltonomous
feat(motion_velocity_smoother): add steering rate limit while plannin…
9e95d41 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>

Update readme

update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix
@brkay54
Copy link
Member Author

brkay54 commented Aug 19, 2022

velocity profile of vehicle with 5.0 dps steering rate in sharp turn.

Screenshot from 2022-08-19 14-15-10

@brkay54 brkay54 mentioned this pull request Aug 19, 2022
Merged
4 tasks
@brkay54 brkay54 marked this pull request as draft August 19, 2022 12:38
voltonomous added a commit to vautonomous/autoware.universe that referenced this pull request Aug 25, 2022
@voltonomous
feat(motion_velocity_smoother): add steering rate limit while plannin…
1473aa4 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>

Update readme

update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix
voltonomous added a commit to vautonomous/autoware.universe that referenced this pull request Aug 27, 2022
@voltonomous
feat(motion_velocity_smoother): add steering rate limit while plannin…
88efc4c 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>

Update readme

update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix
@brkay54 brkay54 force-pushed the add-steer-rate-to-motion-velocity-planner branch from 41788d5 to b3f1e7c Compare September 5, 2022 10:37
brkay54 pushed a commit to brkay54/autoware.universe that referenced this pull request Sep 5, 2022
feat(motion_velocity_smoother): add steering rate limit while plannin…
c46d58e 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>
@brkay54 brkay54 marked this pull request as ready for review September 5, 2022 11:09
@brkay54 brkay54 requested a review from rej55 as a code owner September 5, 2022 11:09
@xmfcx
Copy link
Contributor

xmfcx commented Sep 6, 2022

@brkay54 are there any updates on this PR?

@brkay54
Copy link
Member Author

brkay54 commented Sep 6, 2022

@brkay54 are there any updates on this PR?

It is waiting review.

Berkay added 2 commits September 7, 2022 12:09
feat(motion_velocity_smoother): add steering rate limit while plannin…
e69d3a6 
…g velocity (autowarefoundation#1071)

function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>
Update readme
7d73b96 
update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix

changed curvature calculation of steeringAngleLimit func

Signed-off-by: Berkay Karaman <berkay@leodrive.ai>

changed default parameter values

Signed-off-by: Berkay <berkay@leodrive.ai>

update readme

Signed-off-by: Berkay <berkay@leodrive.ai>

update engage velocity parameter

Signed-off-by: Berkay <berkay@leodrive.ai>
@brkay54 brkay54 force-pushed the add-steer-rate-to-motion-velocity-planner branch from b3f1e7c to 7d73b96 Compare September 7, 2022 09:29
@mehmetdogru
Copy link
Contributor

I tested the PR both on the test field (Gebze Technical University) and with planning simulator. Gave an example of a car which has lower steer_rate_lim_dps to make the difference more obvious.

Before the PR

autoware.universe/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml

Line 48 in 1379811

steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] 

steer_rate_lim_dps: 10

video

After the PR

autoware.universe/launch/tier4_control_launch/config/trajectory_follower/lateral_controller.param.yaml

Line 48 in 1379811

steer_rate_lim_dps: 600.0 # steering angle rate limit [deg/s] 

steer_rate_lim_dps: 10

https://github.com/brkay54/autoware.universe/blob/cf178660cb6640c10b72f51a7e38e1800ef24f88/launch/tier4_planning_launch/config/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml#L51

max_steering_angle_rate: 10

video

mehmetdogru
mehmetdogru approved these changes Sep 7, 2022
View reviewed changes
Copy link
Contributor

@mehmetdogru mehmetdogru left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Looks good to me, PR works as intended.

@mehmetdogru mehmetdogru merged commit c0f3507 into autowarefoundation:main Sep 7, 2022
voltonomous added a commit to vautonomous/autoware.universe that referenced this pull request Sep 7, 2022
@voltonomous
squash all the modifications
2321fbe 
fix ndt topic name


yolo multiple camera


fix lanenet


three lidar test


max iteration increased


ndt vehicle_test


controller test  day - 1


controller test day 2


purepursuit param changed


mpc-test-day-3


perception related changes


obstacle detection for planning offset changing


add vehicle_velocity_converter


control test day 4


control test 5


lateral controller tune


motionvel smoother param update


max lateral acc changed


update vehicle velocity controller launch


fix densification param 


update ekf params


Added traffic light 


add lidar_detection_model param


fix ekf init


update map altitude


add gnss twist topic to ekf


ndt max distance set 200


make clustering use non-ground points instead of outlier remover


practically disable object_lanelet_filter


avoid unknowns and pedestrians?


disable occlusion_spot in behavior_velocity_planner


change planner related params


tune mpc parameters for better tracking


change path planner/avoidance module params


tune controllers


feat(motion_velocity_smoother): add steering rate limit while planning velocity (autowarefoundation#1071)


function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>

Update readme

update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix

change controller related params


change controller related params


control pure pursuit longitudinal tune


tune
change some planning params


(temp) add speed_bump vis to lanelet map (temp)


acc std distance -> 7.0 m


Revert "(temp) add speed_bump vis to lanelet map (temp)"

This reverts commit 1c51e37.

modify hdd_reader params


change NTP server


added camera component container


yolo changed gpu variable


added rectifier node 


changed rectifier node on container


configure localization topics as sensordataqos


steering offset topic changed


Revert "feat(motion_velocity_smoother): add steering rate limit while planning velocity (autowarefoundation#1071)"

This reverts commit 88efc4c.
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Sep 8, 2022
Merged
@brkay54 brkay54 deleted the add-steer-rate-to-motion-velocity-planner branch September 9, 2022 07:31
boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@brkay54 @pre-commit-ci @boyali
feat(motion_velocity_smoother): add steering rate limit while plannin…
3f5cc5c 
…g velocity (tier4#1071)

* feat(motion_velocity_smoother): add steering rate limit while planning velocity (tier4#1071)


function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>

* Update readme

update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix

changed curvature calculation of steeringAngleLimit func

Signed-off-by: Berkay Karaman <berkay@leodrive.ai>

changed default parameter values

Signed-off-by: Berkay <berkay@leodrive.ai>

update readme

Signed-off-by: Berkay <berkay@leodrive.ai>

update engage velocity parameter

Signed-off-by: Berkay <berkay@leodrive.ai>

* ci(pre-commit): autofix

Signed-off-by: Berkay <berkay@leodrive.ai>
Co-authored-by: Berkay <berkay@leodrive.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@brkay54 @pre-commit-ci @boyali
feat(motion_velocity_smoother): add steering rate limit while plannin…
fd3a367 
…g velocity (tier4#1071)

* feat(motion_velocity_smoother): add steering rate limit while planning velocity (tier4#1071)


function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>

* Update readme

update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix

changed curvature calculation of steeringAngleLimit func

Signed-off-by: Berkay Karaman <berkay@leodrive.ai>

changed default parameter values

Signed-off-by: Berkay <berkay@leodrive.ai>

update readme

Signed-off-by: Berkay <berkay@leodrive.ai>

update engage velocity parameter

Signed-off-by: Berkay <berkay@leodrive.ai>

* ci(pre-commit): autofix

Signed-off-by: Berkay <berkay@leodrive.ai>
Co-authored-by: Berkay <berkay@leodrive.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@brkay54 @pre-commit-ci @boyali
feat(motion_velocity_smoother): add steering rate limit while plannin…
7bbb560 
…g velocity (tier4#1071)

* feat(motion_velocity_smoother): add steering rate limit while planning velocity (tier4#1071)


function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>

* Update readme

update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix

changed curvature calculation of steeringAngleLimit func

Signed-off-by: Berkay Karaman <berkay@leodrive.ai>

changed default parameter values

Signed-off-by: Berkay <berkay@leodrive.ai>

update readme

Signed-off-by: Berkay <berkay@leodrive.ai>

update engage velocity parameter

Signed-off-by: Berkay <berkay@leodrive.ai>

* ci(pre-commit): autofix

Signed-off-by: Berkay <berkay@leodrive.ai>
Co-authored-by: Berkay <berkay@leodrive.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@brkay54 @pre-commit-ci @boyali
feat(motion_velocity_smoother): add steering rate limit while plannin…
04af16c 
…g velocity (tier4#1071)

* feat(motion_velocity_smoother): add steering rate limit while planning velocity (tier4#1071)


function added,


not turning


fix the always positive curvature problem


added lower velocity limit


added vehicle parameters


functions created

Signed-off-by: Berkay <berkay@leodrive.ai>

* Update readme

update svg


readme updated


with test params
change sample rate


calculate accurate dt


test

Signed-off-by: Berkay <berkay@leodrive.ai>

fix trajectory size


update readme


change map loader params
Signed-off-by: Berkay <berkay@leodrive.ai>

clear unnecessary comment

Signed-off-by: Berkay <berkay@leodrive.ai>

change the min and max index

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

removed unnecessary params and comments

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

all velocities in lookup distance is changed


Signed-off-by: Berkay <berkay@leodrive.ai>


ci(pre-commit): autofix

works


ci(pre-commit): autofix

changed calculations


with const lookupdistance


ci(pre-commit): autofix

not work peak points


written with constant distances


added param


ci(pre-commit): autofix

update


ci(pre-commit): autofix

update steering angle calculation method


ci(pre-commit): autofix

changed curvature calculation of steeringAngleLimit func

Signed-off-by: Berkay Karaman <berkay@leodrive.ai>

changed default parameter values

Signed-off-by: Berkay <berkay@leodrive.ai>

update readme

Signed-off-by: Berkay <berkay@leodrive.ai>

update engage velocity parameter

Signed-off-by: Berkay <berkay@leodrive.ai>

* ci(pre-commit): autofix

Signed-off-by: Berkay <berkay@leodrive.ai>
Co-authored-by: Berkay <berkay@leodrive.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@mkuri mkuri mentioned this pull request Nov 24, 2022
Merged
8 tasks
iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025
@tkimura4
chore: update code owners for tier4_system_component.launch.xml (auto…
a6bf89e 
…warefoundation#1071)

* chore: update codeowners

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix format

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

---------

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@mitsudome-r mitsudome-r mitsudome-r left review comments

@mehmetdogru mehmetdogru mehmetdogru approved these changes

@TakaHoribe TakaHoribe Awaiting requested review from TakaHoribe TakaHoribe is a code owner

@rej55 rej55 Awaiting requested review from rej55 rej55 is a code owner

Assignees

@brkay54 brkay54

Labels
component:planning Route planning, decision-making, and navigation. (auto-assigned)
Projects
No open projects
Bus ODD Project
Status: Done
Milestone
Bus ODD July-Aug Milestone
Development

Successfully merging this pull request may close these issues.

Motion_velocity_smoother should depend the steering_rate_limit
5 participants
@brkay54 @mitsudome-r @xmfcx @mehmetdogru @TakaHoribe