[pull] main from autowarefoundation:main #438
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…asurementPose/Twist (#5691) * Added X_delay_times_ to obtain the accumulated lap times of the timer callback. Added find_closest_index function to easily use the X_delay_times_. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Added a concept/variable of accumulated_delay_time_ and store every lap time of timer callback. The delay_step will be calculated from it, and the bug of calculating delay_step should be gone. Besides, removed dt in measurementUpdatePose/Twist since it is not needed. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Fixed dt to ekf_dt_ in predictUpdateFrequency() Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Removed temporary debug stuff Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix * Fixed code style pointed out from pre-commit.ci Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix * Fixed typo Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Removed variable ekf_rate_ which is currently unused. Added warnings when the ekf_dt_ is too large. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix * Changed threshold of delay time so that to look the most last (or largest) value of accumulated_delay_times_ Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Correct the warning messages of diag_info to look up the last (or largest) value of accumulated_delay_times_ Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1. The `updateData()` function now sets `status_.is_safe_dynamic_objects` to true when `requiresDynamicObjectsCollisionDetection()` returns false. 2. The `isExecutionReady()` function now checks for dynamic object collisions only if `requiresDynamicObjectsCollisionDetection()` returns true and `isWaitingApproval()` also returns true. This change ensures that dynamic object collision detection is performed only when necessary and approval is pending. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
* feat(start_planner): add surround moving obstacle check This commit introduces a new feature in the start_planner module for checking surrounding moving obstacles. - It adds parameters to specify the search radius and threshold velocity for moving obstacles, along with flags to indicate which types of objects should be checked. - The `noMovingObjectsAround` function has been added to filter dynamic objects within a certain radius based on their velocity. - If no moving objects are detected, the function returns true; otherwise, it returns false. - This feature enhances the safety of the start_planner by ensuring that the path can't be approved while surrond moving obstacles exist. --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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