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feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow #304

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May 9, 2022
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feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow #304

merged 1 commit into from
May 9, 2022

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satoshi-ota
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@satoshi-ota satoshi-ota commented May 9, 2022 •
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PR Type

  • Improvement

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Description

The feature of surround_obstacle_checker is also achieved by using external velocity limit with simpler implementation, and fixed it in PR autowarefoundation/autoware.universe#830.

In this PR,

  • remap topic name in motion planning module in order to separate surround_obstacle_checker from hierarchical motion planning flow

Review Procedure

  1. checkout feature branch (feature/surround-obstacle-chekcer) in universe repo.
  2. launch planning_simulator.launch.xml.
  3. put goal.
  4. put obstacke around vehicle.
  5. engage
  6. check whether Ego does NOT move.
165709891-5db5a0bd-c80a-4ce9-bd46-d98c60309f1e.mp4

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@satoshi-ota satoshi-ota mentioned this pull request May 9, 2022
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kenji-miyake
kenji-miyake reviewed May 9, 2022
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planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -83,43 +83,30 @@ def generate_launch_description():
surround_obstacle_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"]
surround_obstacle_checker_component = ComposableNode(
package="surround_obstacle_checker",
plugin="SurroundObstacleCheckerNode",
plugin="surround_obstacle_checker::SurroundObstacleCheckerNode",
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Please also update tier4_planning_launch in autowarefoundation/autoware.universe#830. 🙇

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Oh, I missed it !! Thanks 👍

@yukkysaito
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LGTM because it seems to be the same this

@satoshi-ota satoshi-ota merged commit bef983f into tier4/universe May 9, 2022
@satoshi-ota satoshi-ota deleted the feature/surround-obstacle-checker branch May 9, 2022 23:29
@tkimura4 tkimura4 mentioned this pull request May 26, 2022
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tzhong518 pushed a commit that referenced this pull request Aug 1, 2022
@satoshi-ota @0x126
feat(planning_launch): separate surround_obstacle_checker from hierar…
3e978e4 
…chical motion planning flow (#304)
takayuki5168 pushed a commit that referenced this pull request Jan 21, 2023
@kosuke55
Fix typo applygin->applying (#304)
661f03c 
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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@kenji-miyake kenji-miyake kenji-miyake left review comments

@yukkysaito yukkysaito yukkysaito approved these changes

@TakaHoribe TakaHoribe Awaiting requested review from TakaHoribe

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3 participants
@satoshi-ota @yukkysaito @kenji-miyake