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chore: sync upstream #221

Merged
merged 74 commits into from
Jan 13, 2023
Merged

chore: sync upstream #221

merged 74 commits into from
Jan 13, 2023

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@tier4-autoware-public-bot tier4-autoware-public-bot bot commented Dec 23, 2022 •
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Features

Bug Fixes

Documentation

Code Refactoring

Performance Improvements

Tests

Chores

td12321 and others added 2 commits December 23, 2022 12:24
@td12321 @TakaHoribe
docs(accel_brake_map_calibrator): add calibration_method description (a…
c558ecd 
…utowarefoundation#2466)

* add calibration_method description.

* apply formatter

Signed-off-by: takahoribe <horibe.takamasa@gmail.com>

* update doc

Signed-off-by: takahoribe <horibe.takamasa@gmail.com>

Signed-off-by: takahoribe <horibe.takamasa@gmail.com>
Co-authored-by: takahoribe <horibe.takamasa@gmail.com>
@kosuke55
fix(behavior_path_planner): pull over emergency stop velocity (autowa…
fa8ab7d 
…refoundation#2572)

* fix(behavior_path_planner): pull over emergency stop velocity

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* make exp_vel

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@github-actions github-actions bot added documentation Improvements or additions to documentation planning vehicle labels Dec 23, 2022
@kminoda
fix(localization_error_monitor): fix CMakeLists.txt (autowarefoundati…
065affc 
…on#2576)

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

Signed-off-by: kminoda <koji.minoda@tier4.jp>
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codecov-commenter commented Dec 23, 2022 •
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Codecov Report

Base: 9.60% // Head: 10.86% // Increases project coverage by +1.25% 🎉

Coverage data is based on head (333e1c5) compared to base (c958fdd).
Patch coverage: 8.82% of modified lines in pull request are covered.

Additional details and impacted files 
@@              Coverage Diff               @@
##           tier4/main     #221      +/-   ##
==============================================
+ Coverage        9.60%   10.86%   +1.25%     
==============================================
  Files             444      453       +9     
  Lines           44204    38911    -5293     
  Branches        15512    13152    -2360     
==============================================
- Hits             4245     4226      -19     
+ Misses          33965    31613    -2352     
+ Partials         5994     3072    -2922
Flag Coverage Δ
differential 10.86% <8.82%> (+1.25%) ⬆️
Impacted Files Coverage Δ
...er4_state_rviz_plugin/src/autoware_state_panel.cpp 0.00% <0.00%> (ø)
...er4_state_rviz_plugin/src/autoware_state_panel.hpp 0.00% <ø> (ø)
...ternal_cmd_selector/external_cmd_selector_node.cpp 0.00% <0.00%> (ø)
.../lane_departure_checker/lane_departure_checker.hpp 0.00% <ø> (ø)
..._departure_checker_node/lane_departure_checker.cpp 0.00% <0.00%> (ø)
...rture_checker_node/lane_departure_checker_node.cpp 0.40% <0.00%> (-0.01%) ⬇️
..._controller/include/mpc_lateral_controller/mpc.hpp 46.66% <ø> (ø)
.../include/mpc_lateral_controller/mpc_trajectory.hpp 50.00% <ø> (ø)
...pc_lateral_controller/qp_solver/qp_solver_osqp.hpp 0.00% <ø> (ø)
...l_controller/qp_solver/qp_solver_unconstr_fast.hpp 100.00% <ø> (ø)
... and 519 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
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TakaHoribe and others added 4 commits December 23, 2022 14:16
@TakaHoribe
refactor(oepration__mode_transition_manager): improve visibility for …
03facbf 
…debug topic (autowarefoundation#2573)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
@rej55 @kosuke55
fix(behavior_path_planner): return node status in each scene modules (a…
d969e52 
…utowarefoundation#2577)

* fix(behavior_path_planner): return node status in each scene modules

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(behavior_path_planner): fix typo

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* Update planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp

Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
@zulfaqar-azmi-t4
fix(behavior_path_planner): lane change check default parameters (aut…
c3d39d6 
…owarefoundation#2575)

Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>

Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>
@TakaHoribe @zulfaqar-azmi-t4 @rej55
feat(lane_change): update path generation logic to consider lateral j…
da1b16e 
…erk and lateral acceleration (autowarefoundation#2428)

* [lane_change] update path generation to handle lateral acceleration limit

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* remove unused code

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* remove unused code & fix precommit

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update doc

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update docs

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update doc

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update doc

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update doc

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* move path_shifter implementation to cpp

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Update planning/behavior_path_planner/src/scene_module/utils/path_shifter.cpp

Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>

* Update planning/behavior_path_planner/behavior_path_planner_path_generation.md

Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>

* update doc link

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update doc

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* remove unused code

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* add common min distance computation

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* rearrange config and rework min distance

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* revert some changes

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* remove warning

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Update planning/behavior_path_planner/behavior_path_planner_path_generation.md

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

* Update planning/behavior_path_planner/behavior_path_planner_path_generation.md

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix spell check

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
satoshi-ota and others added 5 commits December 24, 2022 14:11
@satoshi-ota
feat(avoidance): implement avoidance path safety check logic (autowar…
29086e5 
…efoundation#2534)

* feat(avoidance_utils): add util functions

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): add safety check for avoidance path

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): enhance avoidance debug marker

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): not use smoother

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(behavior_path_planner): add utility function

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): use other util function

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): use emplace_back

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(behavior_path_planner): use new util funciton

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(behaivior_path_planner): remove unused util function

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): not use make pair in emplace back

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@takayuki5168
refactor(trajectory_follower_nodes): refactor the controller framework (
5070130 
autowarefoundation#2432)

* refactor(trajectory_follower_nodes): refactor the controller framework

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add test for keeping stopped state when steer is not converged

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix the bug that initialization of mpc does not finish

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* apply the change to pure_pursuit

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* remove initialize function and implement reset function

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* minor change

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@takayuki5168
fix(mission_planner): fix initialize function (autowarefoundation#2566)
fe12eb8 
* fix(mission_planner): fix initialize function

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@tkimura4 @kenji-miyake @pre-commit-ci
fix(behavior_velocity_planner): fix blind spot over-detection (autowa…
95731ff 
…refoundation#2570)

* chore: sync files (#629)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* ci(pre-commit): autofix

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* feat(map_based_prediction): set orientation to predicted path of pedestrian

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@tkimura4
chore(behavior_path_planner): make the line of drivable are bound bol…
8f6ae1b 
…der (autowarefoundation#2563)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
YoshiRi and others added 3 commits January 11, 2023 11:02
@YoshiRi
feat(multi_object_tracker): canceling unnecessary pose/velocity updat…
6cee396 
…e caused by shape change (autowarefoundation#2238)

* add function to get nearest corner or points

* add finding nearest corner util

* add calc offset function

* add nearest edge tracking function

* add self_transform to tracker init and update

* update big vehicle tracker

* add self_transform to each tracker

* update normal vehicle tracker

* fix anchor point calculation

* fix bounding_box_.width representing length issue

* fix initial bounding box size

* fix util length/width dimensions

* use last input bounding box size

* temporal set to post process

* manage reversed orientation detection

* use enum to represent BBOX index

* demonstration of preprocessing

* change post process method

* add get_measurement function

* update to use tracking point and offset vector

* add invalid index to handle exception

* refactoring some comments

* add convex hull to bounding box converter

* track convex shape in converted bbox shape

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
@beyzanurkaya @kosuke55 @takayuki5168
feat(behavior_velocity_planner): add speed bump module (#647)
0d372fb 
Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>
Signed-off-by: Beyza Nur Kaya <bnk@leodrive.ai>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
@sujithvemi @ismetatabay
fix(detection_area): add color debug markers (autowarefoundation#2401)
6089691 
Signed-off-by: sujithvemi <sujith.3920@gmail.com>
Co-authored-by: Ismet Atabay <ismet@leodrive.ai>
Co-authored-by: M. Fatih Cırıt <mfc@leodrive.ai>
@github-actions github-actions bot added the map label Jan 12, 2023
kminoda and others added 11 commits January 12, 2023 09:18
@kminoda @pre-commit-ci
fix(pose_initializer): add default ad api description in readme (auto…
d01b453 
…warefoundation#2635)

* fix(pose_initializer): add default ad api description in readme

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

* ci(pre-commit): autofix

* resolve conflict

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

* remove svg file

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@satoshi-ota
feat(avoidance): implement yield maneuver in avoidance module (autowa…
5475062 
…refoundation#2515)

* feat(avoidance): implement yield maneuver

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance_utils): add util functions

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): add stop/slow behavior

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): enhance avoidance debug markers

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(behavior_path_planner): cleanup avoidance params

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance_utils): improve util functions for readability

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): remove no use optional

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): fix param name for readability

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): sort object by longitudinal distance

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@h-ohta
fix(system_error_monitor): hold emergency when timeout happens (autow…
99208eb 
…arefoundation#2634)

* fix(system_error_monitor): hold emergency when timeout

* fix: initialize other fault
@h-ohta @pre-commit-ci
feat(obstacle_stop_planner): add parameter for voxel grid filter and …
33ecdb5 
…publish pointcloud as debug (autowarefoundation#2624)

* feat: publish pointcloud as debug

* feat: add voxel grid parameter

* ci(pre-commit): autofix

* fix spell check

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@IshitaTakeshi
refactor(ekf_localizer): remove 'dim_x_ex_' as it is no longer used (a…
30cda9c 
…utowarefoundation#2640)
@h-ohta
fix(obstacle_stop_planner): remove no_height_pointcloud_ptr in filt…
e77bc20 
…ering pointcloud (autowarefoundation#2623)

* fix(obstacle_stop_planner): fix point.z in filtering pointcloud

* fix: remoge no_height_pointcloud_ptr
@maxime-clem
feat(behavior_path_planner): param to skip some linestring types when…
7d027ba 
… expanding the drivable area (autowarefoundation#2288)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@Shin-kyoto
feat(elevation_map_loader): reduce memory usage of elevation_map_load…
214912a 
…er (autowarefoundation#2571)

* feat: reduce memory usage of elevation_map_loader

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>

* chore: remove unnecessary comment

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>

* fix: modify variables' name

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
@kosuke55
feat(behavior_path_planner): visualize full pull out path as candidate (
b083510 
autowarefoundation#2643)

feat(behavior_path_planner): visualize full pull out path as candidate

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@kosuke55
feat(behavior_path_planner): error messsage when no pull over/out pla…
a1dfc11 
…nners (autowarefoundation#2644)

feat(behavior_path_planner): error messsage when no pull over/out planner

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@kosuke55
feat(lane_departure_checker): check shoulder lane (autowarefoundation…
966ef94 
…#2614)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
purewater0901 and others added 5 commits January 13, 2023 10:47
@purewater0901
fix(obstacle_avoidance_planner): fix drivable area checker (autowaref…
d91f84e 
…oundation#2639)

* fix(obstacle_avoidance_planner): fix drivable area checker

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

* fix format

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

Signed-off-by: yutaka <purewater0901@gmail.com>
@isamu-takagi
feat: replace tier4_ad_api_adaptor with default_ad_api (autowarefound…
1832adf 
…ation#2438)

* feat: add options

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: rosbridge max message size

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: remove old apis

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: remove api adaptors except rtc controller

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: remove external engage

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat: add deprecated api option

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: path

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
@zulfaqar-azmi-t4
fix(behavior_path_planner): lane change turn signal during approval (a…
5975ceb 
…utowarefoundation#2645)

* fix(behavior_path_planner): lane change turn signal during approval

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* some refactoring

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@kminoda @pre-commit-ci
feat(vehicle_velocity_converter): add speed_scale_factor (autowaref…
833fe1f 
…oundation#2641)

* feat(vehicle_velocity_converter): add speed_scale_factor

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

* add parameter description in readme

* ci(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>
@IshitaTakeshi @pre-commit-ci
refactor(ekf_localizer): add a function that warns if delay time < 0 (a…
333e1c5 
…utowarefoundation#2642)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@tier4-autoware-public-bot tier4-autoware-public-bot bot merged commit 435574b into tier4/main Jan 13, 2023
@tier4-autoware-public-bot tier4-autoware-public-bot bot deleted the sync-upstream branch January 13, 2023 08:09
maxime-clem pushed a commit to maxime-clem/autoware.universe that referenced this pull request Feb 7, 2024
@kenji-miyake
chore(config): change flake8 import-order-style to pep8 (tier4#221)
48fc7e3 
* chore(config): ignore I100 of flake8

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Update setup.cfg
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@h-ohta h-ohta h-ohta approved these changes

@tkimura4 tkimura4 Awaiting requested review from tkimura4

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@kosuke55 kosuke55 Awaiting requested review from kosuke55

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@takayuki5168 takayuki5168 Awaiting requested review from takayuki5168

@purewater0901 purewater0901 Awaiting requested review from purewater0901

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@YamatoAndo YamatoAndo Awaiting requested review from YamatoAndo

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@miursh miursh Awaiting requested review from miursh

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ci common control documentation Improvements or additions to documentation launch localization map perception planning sensing simulator system vehicle
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