fix(controller): revival of dry steering #7903
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kyoichi-sugahara
approved these changes
Jul 9, 2024
…onstraint (autowarefoundation#7673)" This reverts commit 69258bd.
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #7903 +/- ##
==========================================
- Coverage 28.76% 28.75% -0.01%
==========================================
Files 1592 1592
Lines 116667 116696 +29
Branches 49937 49952 +15
==========================================
+ Hits 33554 33560 +6
- Misses 74008 74024 +16
- Partials 9105 9112 +7
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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Jul 10, 2024
* Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comments Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add minor fix and modify unit test for dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
takayuki5168
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Jul 10, 2024
* Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comments Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add minor fix and modify unit test for dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
shmpwk
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Jul 10, 2024
…1404) * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
shmpwk
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Jul 10, 2024
…1405) * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Ariiees
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Jul 22, 2024
* Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (autowarefoundation#7673)" This reverts commit 69258bd. * dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comments Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add minor fix and modify unit test for dry steering Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
TomohitoAndo
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Nov 15, 2024
TomohitoAndo
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Description
Once the dry steering (steering while the ego stops) was supported in the controller for the geometric path by the start/goal planner.
However, this dry steering feature does not work well currently due to the recent change.
This PR revived the the dry steering feature.
Without this PR
case1 (geometric path planning)
https://github.com/autowarefoundation/autoware.universe/assets/20228327/07fc0dcb-21ba-45d5-9f8e-a4a10519488a
With this PR
case1 (geometric path planning)
https://github.com/autowarefoundation/autoware.universe/assets/20228327/5220ed78-d093-4c24-aae8-0ef3c9bbc9e3
case2 (freespace path planning)
https://github.com/autowarefoundation/autoware.universe/assets/20228327/23891825-e5d4-46ca-bf6b-b50f6f37b58c
Related links
How was this PR tested?
https://evaluation.tier4.jp/evaluation/reports/9cbcc1d0-bd17-5a1a-b383-c306c8e901cb?project_id=prd_jt
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.