feat(ndt_scan_matcher): use glog #5465

kminoda · 2023-11-02T05:01:35Z

Description

Use glog for ndt_scan_matcher.
Please see #4714 for more info about glog.

We recently had an issue where ndt_scan_matcher fails in some situation but cannot reproduce, making it difficult for us to investigate. Thus I would like to introduce glog for ndt_scan_matcher, at least temporarily, to improve the traceability.

Tests performed

Launched Autoware and confirmed that the Autoware works with sample rosbag (with logging_simulator)
Intentionally put an error in ndt_scan_matcher that terminates the node, and make sure that the glog outputs the log as it is expected
Confirmed that the test passes
Confirmed that the NDT is launched with multi-threaded executor

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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codecov · 2023-11-02T05:31:18Z

Codecov Report

Attention: 2 lines in your changes are missing coverage. Please review.

Comparison is base (bfabbca) 15.06% compared to head (456941e) 15.06%.
Report is 43 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5465      +/-   ##
==========================================
- Coverage   15.06%   15.06%   -0.01%     
==========================================
  Files        1662     1662              
  Lines      115713   115715       +2     
  Branches    35755    35755              
==========================================
  Hits        17437    17437              
- Misses      78739    78741       +2     
  Partials    19537    19537

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`15.06% <ø> (ø)`		Carriedforward from bfabbca

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

Files	Coverage Δ
...ion/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp	`0.00% <0.00%> (ø)`

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KYabuuchi · 2023-11-06T02:26:23Z

After this PR is merged, we need to keep in mind that ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml will not be launched except for test/test_ndt_scan_matcher_launch.py, ~~and when launched with it, it will not be a multi-thread-executer. 👈~~

P.S. the latter part is resolved.

kminoda · 2023-11-06T04:37:19Z

@KYabuuchi Thanks. Changed my mind and now I think it's better to make the sample launch file executed in MultiThreadedExecuter as well. Fixed here: 02fc409

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda · 2023-11-06T05:34:09Z

I directly use glog instead of using it as glog_component (Special thanks: @KYabuuchi )

KYabuuchi

Please add <depend>libgoogle-glog-dev</depend> in package.xml.

After it is added, I wil approve 🔜

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda · 2023-11-06T06:50:17Z

@KYabuuchi Thank you for all the careful reviews! Fixed: a858ddd

KYabuuchi

LGTM ❤️

* feat(ndt_scan_matcher): use glog Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…oundation#1031) * feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(avoidance): keep stopping until all shift lines are registered Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(map_loader): display curbstone as marker array (autowarefoundation#4958) display curbstone as marker array Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * revert refactoring due to cherry-pick * feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (#1031) * feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(out_of_lane): improve reuse of previous decision (#1017) * Do not directly reuse a prev stop point but project it on the new path Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve reuse of the previously inserted stop point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix precision of inserted stop point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(system_monitor): output command line (autowarefoundation#5430) (#1057) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: pull tracking object merger from awf/main Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat(intersection): check path margin for overshoot vehicles on red light (autowarefoundation#5394) (#1056) Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO> * fix(ndt_scan_matcher): delete unmerged feature * fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoundation#5951) Fixed the lock scope in update_ndt Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * fix(static_drivable_area_expansion): fix bug in expansion logic for hatched road marking (autowarefoundation#5842) (#1075) fix(utils): fix drivable area expansion logic for zebra zone Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bvp): traffic light state debug (#1083) Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> * fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (#1124) * fix(traffic_light): stop if the traffic light signal timed out * fix(traffic_light): fix README format --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * refactor(mpc_lateral_controller): add debug info of qp solver (autowarefoundation#5459) (#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: yamato-ando <Yamato ANDO> Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

github-actions bot added component:localization Vehicle's position determination in its environment. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Nov 2, 2023

kminoda marked this pull request as ready for review November 2, 2023 05:25

kminoda requested review from KYabuuchi, Motsu-san, YamatoAndo and RyuYamamoto as code owners November 2, 2023 05:25

kminoda added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Nov 2, 2023

kminoda force-pushed the feat/ndt_scan_matcher/use_glog branch from 02fc409 to b2a3f31 Compare November 6, 2023 05:32

github-actions bot removed the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Nov 6, 2023

feat(ndt_scan_matcher): use glog

30456b2

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda force-pushed the feat/ndt_scan_matcher/use_glog branch from b2a3f31 to 30456b2 Compare November 6, 2023 05:33

style(pre-commit): autofix

2302083

KYabuuchi reviewed Nov 6, 2023

View reviewed changes

update

a858ddd

Signed-off-by: kminoda <koji.minoda@tier4.jp>

style(pre-commit): autofix

456941e

KYabuuchi approved these changes Nov 6, 2023

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kminoda merged commit 6b0bbde into autowarefoundation:main Nov 6, 2023

kminoda mentioned this pull request Nov 7, 2023

feat(ndt_scan_matcher): use glog (#5465) tier4/autoware.universe#1003

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tier4-autoware-public-bot bot mentioned this pull request Nov 8, 2023

chore: sync upstream tier4/autoware.universe#1005

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TomohitoAndo mentioned this pull request Nov 21, 2023

feat(ndt_scan_matcher): use glog (#5465) tier4/autoware.universe#1031

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kminoda deleted the feat/ndt_scan_matcher/use_glog branch June 20, 2024 05:33

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feat(ndt_scan_matcher): use glog #5465

feat(ndt_scan_matcher): use glog #5465

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feat(ndt_scan_matcher): use glog #5465

feat(ndt_scan_matcher): use glog #5465

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kminoda commented Nov 2, 2023 • edited Loading

Description

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Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

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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