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feat(routing-no-drivable-lanes): proposing solution for routing no_drivable_lane #3954

Merged
merged 4 commits into from
Jul 6, 2023
Merged

feat(routing-no-drivable-lanes): proposing solution for routing no_drivable_lane #3954

merged 4 commits into from
Jul 6, 2023

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ahmeddesokyebrahim
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@ahmeddesokyebrahim ahmeddesokyebrahim commented Jun 12, 2023 •
edited by TakaHoribe
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Description

This PR is to provide a solution for routing no_drivable_lane .

Related links

closes #3952

Tests performed

Before PR (with NoDrivableLaneModulePlugin activated) :
https://www.youtube.com/watch?v=PJz1sg411Jk

After PR (with NoDrivableLaneModulePlugin activated) :
https://www.youtube.com/watch?v=XDnnpYz0rZY

Notes for reviewers

To properly test this PR, please activate no_drivable_lane module by activating the NoDrivableLaneModulePlugin
module in this file.

Interface changes

N.A.

Effects on system behavior

The default_planner and route_handler will take longer path than shortest path to avoid stopping at a no_drivable_lane.

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.

@ahmeddesokyebrahim ahmeddesokyebrahim self-assigned this Jun 12, 2023
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jun 12, 2023
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codecov bot commented Jun 12, 2023 •
edited
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Codecov Report

Patch coverage: 23.80% and project coverage change: -0.95 ⚠️

Comparison is base (d905e38) 15.23% compared to head (452178d) 14.29%.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #3954      +/-   ##
==========================================
- Coverage   15.23%   14.29%   -0.95%     
==========================================
  Files        1469     1575     +106     
  Lines      101781   108520    +6739     
  Branches    31396    31409      +13     
==========================================
+ Hits        15505    15509       +4     
- Misses      69414    76144    +6730     
- Partials    16862    16867       +5
Flag Coverage Δ *Carryforward flag
differential 16.01% <23.80%> (?)
total 14.29% <ø> (-0.94%) ⬇️ Carriedforward from af4ce27

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

Impacted Files Coverage Δ
planning/route_handler/src/route_handler.cpp 24.57% <23.80%> (-0.08%) ⬇️

... and 108 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

TakaHoribe
TakaHoribe reviewed Jun 15, 2023
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@ahmeddesokyebrahim It looks good. Please check my comments.

planning/route_handler/src/route_handler.cpp Outdated Show resolved Hide resolved
planning/route_handler/src/route_handler.cpp Outdated Show resolved Hide resolved
planning/route_handler/src/route_handler.cpp Outdated Show resolved Hide resolved
@ahmeddesokyebrahim ahmeddesokyebrahim force-pushed the autoware/universe/3952-feat-routing-no-drivable-lanes branch from 8793dd7 to d88259b Compare June 19, 2023 21:43
TakaHoribe
TakaHoribe approved these changes Jun 23, 2023
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LGTM. Thank you!

@ahmeddesokyebrahim
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Thanks @TakaHoribe san for your review.

Can anyone from code owners have look and give a feedback to go forward ?
@rej55 @kosuke55 @purewater0901 @zulfaqar-azmi-t4 @autowarefoundation/autoware-global-codeowners

ahmeddesokyebrahim and others added 4 commits July 6, 2023 05:46
@ahmeddesokyebrahim
feat(routing-no-drivable-lanes): proposing solution for routing no-dr…
99be489 
…ivable lanes using getRouteVia method

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>
@pre-commit-ci @ahmeddesokyebrahim
style(pre-commit): autofix
a2b1a05
@ahmeddesokyebrahim
feat(routing-no-drivable-lanes): fixing review comments / adding comm…
61f5f52 
…ents to added functions / proper naming

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>
@pre-commit-ci @ahmeddesokyebrahim
style(pre-commit): autofix
452178d
@ahmeddesokyebrahim ahmeddesokyebrahim force-pushed the autoware/universe/3952-feat-routing-no-drivable-lanes branch from d4efcb2 to 452178d Compare July 6, 2023 02:46
@mehmetdogru mehmetdogru merged commit b5de8a3 into autowarefoundation:main Jul 6, 2023
@ahmeddesokyebrahim ahmeddesokyebrahim deleted the autoware/universe/3952-feat-routing-no-drivable-lanes branch July 6, 2023 09:00
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jul 7, 2023
Merged
purewater0901 added a commit that referenced this pull request Jul 7, 2023
@purewater0901
Revert "feat(routing-no-drivable-lanes): proposing solution for routi…
88b52d0 
…ng no_drivable_lane (#3954)"

This reverts commit b5de8a3.
purewater0901 added a commit that referenced this pull request Jul 7, 2023
@purewater0901
Revert "Revert "feat(routing-no-drivable-lanes): proposing solution f…
4d85ee9 
…or routing no_drivable_lane (#3954)""

This reverts commit 88b52d0.
purewater0901 added a commit that referenced this pull request Jul 7, 2023
@purewater0901
Revert "Revert "feat(routing-no-drivable-lanes): proposing solution f…
c4725f4 
…or routing no_drivable_lane (#3954)""

This reverts commit 88b52d0.
purewater0901 added a commit that referenced this pull request Jul 11, 2023
@purewater0901
refactor(lane_change): update lane change safety check (#4200)
b8374ec 
* Revert "feat(routing-no-drivable-lanes): proposing solution for routing no_drivable_lane (#3954)"

This reverts commit b5de8a3.

* Revert "Revert "feat(routing-no-drivable-lanes): proposing solution for routing no_drivable_lane (#3954)""

This reverts commit 88b52d0.

* feat(lane_change): update lane change safety check type

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

---------

Signed-off-by: yutaka <purewater0901@gmail.com>
purewater0901 added a commit that referenced this pull request Jul 11, 2023
@purewater0901
refactor(lane_change): separate some lane change specific codes from …
e7c7b6e 
…the safety check module (#4231)

* Revert "feat(routing-no-drivable-lanes): proposing solution for routing no_drivable_lane (#3954)"

This reverts commit b5de8a3.

* Revert "Revert "feat(routing-no-drivable-lanes): proposing solution for routing no_drivable_lane (#3954)""

This reverts commit 88b52d0.

* feat(lane_change): update lane change safety check type

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* feat(lane_change): simplify safety check functions

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

---------

Signed-off-by: yutaka <purewater0901@gmail.com>
purewater0901 added a commit that referenced this pull request Jul 12, 2023
@purewater0901
fix(lane_change): fix safety check velocity value (#4233)
0752672 
* Revert "feat(routing-no-drivable-lanes): proposing solution for routing no_drivable_lane (#3954)"

This reverts commit b5de8a3.

* Revert "Revert "feat(routing-no-drivable-lanes): proposing solution for routing no_drivable_lane (#3954)""

This reverts commit 88b52d0.

* feat(lane_change): update lane change safety check type

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* feat(lane_change): simplify safety check functions

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* fix(lane_change): fix lane chagne safety check velocity

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

---------

Signed-off-by: yutaka <purewater0901@gmail.com>
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Reviewers

@TakaHoribe TakaHoribe TakaHoribe approved these changes

@purewater0901 purewater0901 purewater0901 approved these changes

@rej55 rej55 Awaiting requested review from rej55

@kosuke55 kosuke55 Awaiting requested review from kosuke55

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 Awaiting requested review from zulfaqar-azmi-t4

@mehmetdogru mehmetdogru Awaiting requested review from mehmetdogru

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Routing to avoid no_drivable_lane(s)
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@ahmeddesokyebrahim @TakaHoribe @purewater0901 @mehmetdogru