feat(lanelet2_extension): add route checker #1149

shmpwk · 2022-06-22T04:08:32Z

Description

Check the loading route is valid or not.
If it is invalid, puts warning without dying.
The case valid is when the route is created on the same map as the current one.

Tests performed

I tested both valid and invalid route.

Notes for reviewers

You can test this library by executing

colcon test --packages-select lanelet2_extension --ctest-args -R route-test

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kenji-miyake

@shmpwk Added some reviews about coding styles.

map/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp

map/lanelet2_extension/test/src/test_route_checker.cpp

codecov · 2022-06-22T05:20:50Z

Codecov Report

Merging #1149 (bb996db) into main (fe5b488) will decrease coverage by 0.01%.
The diff coverage is 50.00%.

@@           Coverage Diff            @@
##            main   #1149      +/-   ##
========================================
- Coverage   9.08%   9.06%   -0.02%     
========================================
  Files       1034    1036       +2     
  Lines      70473   70444      -29     
  Branches   14692   14682      -10     
========================================
- Hits        6402    6389      -13     
+ Misses     58574   58572       -2     
+ Partials    5497    5483      -14

Flag	Coverage Δ		*Carryforward flag
differential	`2.53% <50.00%> (?)`
total	`9.02% <ø> (-0.04%)`	⬇️	Carriedforward from d4bb1ff

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

Impacted Files	Coverage Δ
...lanelet2_extension/test/src/test_route_checker.cpp	`37.93% <37.93%> (ø)`
map/lanelet2_extension/lib/route_checker.cpp	`88.88% <88.88%> (ø)`
...autoware_utils/test/src/geometry/test_geometry.cpp	`38.91% <0.00%> (-0.53%)`	⬇️
...est_node/include/fake_test_node/fake_test_node.hpp	`39.13% <0.00%> (ø)`
...include/tier4_autoware_utils/geometry/geometry.hpp	`92.59% <0.00%> (+0.54%)`	⬆️

Continue to review full report at Codecov.

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

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

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

tkimura4

LGTM

shmpwk · 2022-06-23T10:49:08Z

Thank you. Then I will check if #1153 works.

* feat(lanelet2_extension): add route checker Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * chore: move pkg from tier4_autoware_utils to lanelet2_extension Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: test Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * ci(pre-commit): autofix * chore: add comment Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * ci(pre-commit): autofix * chore: rm unused pkg Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * Update map/lanelet2_extension/test/src/test_route_checker.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update map/lanelet2_extension/test/src/test_route_checker.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: update code style Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * ci(pre-commit): autofix * fix: change interface Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * ci(pre-commit): autofix * fix: change style Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

autowarefoundation#1149) manual cherry-pick of autowarefoundation#6368 Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

shmpwk requested review from tkimura4 and taikitanaka3 June 22, 2022 04:08

kenji-miyake reviewed Jun 22, 2022

View reviewed changes

shmpwk force-pushed the feat/route_handler branch from e967c6a to ec5cac0 Compare June 22, 2022 05:52

shmpwk and others added 13 commits June 22, 2022 16:53

feat(lanelet2_extension): add route checker

c4e3bd6

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

chore: move pkg from tier4_autoware_utils to lanelet2_extension

2f23375

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

fix: test

7ce4fa7

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

ci(pre-commit): autofix

09a4560

chore: add comment

2557676

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

ci(pre-commit): autofix

526e402

chore: rm unused pkg

150a576

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

Update map/lanelet2_extension/test/src/test_route_checker.cpp

b48ebff

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

Update map/lanelet2_extension/test/src/test_route_checker.cpp

8ecd94a

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

chore: update code style

d335d44

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

ci(pre-commit): autofix

d662b90

fix: change interface

dfc3151

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

ci(pre-commit): autofix

d4bb1ff

shmpwk force-pushed the feat/route_handler branch from 6a26293 to d4bb1ff Compare June 22, 2022 07:53

shmpwk and others added 2 commits June 22, 2022 19:37

fix: change style

6b3922e

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

ci(pre-commit): autofix

bb996db

shmpwk added the component:map Map creation, storage, and loading. (auto-assigned) label Jun 22, 2022

tkimura4 approved these changes Jun 23, 2022

View reviewed changes

tkimura4 merged commit 1ed66cb into autowarefoundation:main Jun 23, 2022

tier4-autoware-public-bot bot mentioned this pull request Jun 24, 2022

chore: sync upstream tier4/autoware.universe#68

Merged

shmpwk mentioned this pull request Jul 1, 2022

docs(lanelet2_extention): add route cheker and update launching args #1205

Merged

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feat(lanelet2_extension): add route checker #1149

feat(lanelet2_extension): add route checker #1149

shmpwk commented Jun 22, 2022 •

edited

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codecov bot commented Jun 22, 2022 •

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shmpwk commented Jun 23, 2022

feat(lanelet2_extension): add route checker #1149

feat(lanelet2_extension): add route checker #1149

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shmpwk commented Jun 22, 2022 • edited Loading

Description

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Tests performed

Notes for reviewers

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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shmpwk commented Jun 23, 2022

shmpwk commented Jun 22, 2022 •

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