fix(obstacle_stop_planner): fix the issues when use_predicted_objects true

[brkay54]

Description

In obstacle_stop_planner, use_predicted_object option was added but it does not work as we wanted. Firstly, there are some bugs while checking the obstacle. For example, it uses the last collision footprint to set collision point.

Also, it checks only intersected points while checking collision, however, corner points also need to be checked.

Also I needed make some changes in adaptive_cruise_planner while using predicted objects, because perception side is estimating obstacle velocity, adaptive_cruise_control does not need to estimate the velocity.

Related links

Tests performed

For Z-Axis-Filtering:

Stop test:

obstacle-stop-.2023-04-26-23-40-53.mp4

Vehicle following:

follow-vehicle-.2023-04-26-23-41-28.mp4

Slow-down:

slw-.2023-04-26-23-46-25.mp4

Notes for reviewers

Interface changes

Effects on system behavior

There is no effect for system behavior, all things working as we wanted.

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[brkay54]

@satoshi-ota @shmpwk @taikitanaka3 @tkimura4 also if it is not problem, I want to add myself as maintainer. I want to maintain this package.

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (9693e36) 13.82% compared to head (1f9cb59) 13.81%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3556      +/-   ##
==========================================
- Coverage   13.82%   13.81%   -0.01%     
==========================================
  Files        1395     1395              
  Lines       98036    98016      -20     
  Branches    29147    29125      -22     
==========================================
- Hits        13553    13542      -11     
+ Misses      69826    69820       -6     
+ Partials    14657    14654       -3     

Flag	Coverage Δ		*Carryforward flag
differential	8.80% <0.00%> (?)
total	13.84% <ø> (+0.02%)	⬆️	Carriedforward from 9693e36

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

Impacted Files	Coverage Δ
...ner/include/behavior_path_planner/data_manager.hpp	23.07% <ø> (-14.43%)	⬇️
...lude/behavior_path_planner/turn_signal_decider.hpp	75.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	19.39% <ø> (-0.23%)	⬇️
.../behavior_path_planner/src/turn_signal_decider.cpp	50.00% <ø> (-0.74%)	⬇️
...top_planner/include/obstacle_stop_planner/node.hpp	0.00% <0.00%> (ø)
...tacle_stop_planner/src/adaptive_cruise_control.cpp	1.52% <0.00%> (-0.13%)	⬇️
planning/obstacle_stop_planner/src/node.cpp	9.26% <0.00%> (+0.44%)	⬆️
...anning/obstacle_stop_planner/src/planner_utils.cpp	13.42% <0.00%> (-0.55%)	⬇️

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[satoshi-ota]

@satoshi-ota @shmpwk @taikitanaka3 @tkimura4 also if it is not problem, I want to add myself as maintainer. I want to maintain this package.

@brkay54 OK. We TIER IV are glad you are maintaining this package. Then, please add your name in package.xml like that. I think it is better to create other PR for adding maintainer. I'll approve quickly if you done.

autoware.universe/planning/obstacle_stop_planner/package.xml

Line 8 in e7f8c12

<maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>

[brkay54]

Thank you @satoshi-ota . I created PR for this: #3559

[satoshi-ota]

@brkay54 I ran action and updated code owner in #3557.

[satoshi-ota]

@brkay54 Sorry for late response. I would like to check this PR by scenario tests. Is this PR ready for review? (and, #3558, #3560 are also ready?)

[brkay54]

@satoshi-ota Yes all of the PRs ready for review.

FYI: Merge order should be like this:

• fix(obstacle_stop_planner): fix the issues when use_predicted_objects true #3556
• feat(obstacle_stop_planner): add filtering feature for predicted objects #3558
• refactor(obstacle_stop_planner): remove unnecessary variables and functions, improve code performance #3560

[satoshi-ota]

Scenarios test is running now...
Please wait a while.

[satoshi-ota]

LGTM. Please rebase the other PRs.

[brkay54]

@satoshi-ota Thank you for your review 🙏🏼 . Other PRs are rebased.

[takayuki5168]

@brkay54 cc @mehmetdogru

We have a new obstacle_cruise_planner package to stop/cruise/slow down against predicted objects.
https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/

We TIER IV will replace the obstacle_stop_planner with the obstacle_cruise_planner for the stop/cruise/slow down planner.
I heard that Ota-kun introduced this package to you, but do you have any reason not to use the obstacle_cruise_planner?

[brkay54]

Hi, @takayuki5168 we are also planning to switch to obstacle_cruise_planner but currently using obstacle_stop_planner because the last time I asked in Discord, @mitsudome-r said it is only used in R&D vehicles to be tested.

While testing the obstacle_stop_planner, we saw some bugs and fixed those. After testing the latest obstacle_stop_planner enough, we will also switch to obstacle_cruise_planner. Thank you for your recommendation! 🙏🏼

[takayuki5168]

@brkay54
Thank you for your comment. I understand.

Just for your information, currently, the obstacle_cruise_planner does not support the pointcloud input.
If you wanna use the pointcloud input, just adding the implementation of converting the input pointcloud to the internal abstract obstacle struct will work well.
Let me know any time if you have a question!

[satoshi-ota]

Hi @brkay54
I found that you are NOT registered as CODEOWNER correctly.

Github says:

Unknown owner on line 51: make sure a user with the email address berkay@leodrive.ai exists and has write access to the repository

in this file.

Have you registered your company email address with github? If you haven't, could you register it? (Or fix address in package.xml.)

[brkay54]

@satoshi-ota Thank you for informing me! Sorry for that. I added the mail address as a secondary address. Can you check it again, please?

[satoshi-ota]

@brkay54 The error was removed. I think it is ok 👍