From 402b2ff0db017a27943df9d1f0de305ebbcd4e70 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Tue, 30 May 2023 11:08:25 +0300 Subject: [PATCH 1/2] feat: first draft proposal implementation for handling invalid lanelets (#235) * feat: first draft proposal implementation for handling invalid lanelets Signed-off-by: AhmedEbrahim * style(pre-commit): autofix * feat: adding invalid lanelet for rviz visualization Signed-off-by: AhmedEbrahim * feat: fixing review comment Signed-off-by: AhmedEbrahim * feat: changing module name from invalid_lanelet to no_drivable_lane Signed-off-by: AhmedEbrahim * feat: fixing merge conflict mistakes Signed-off-by: AhmedEbrahim * feat: fixing merge conflict mistakes Signed-off-by: AhmedEbrahim * feat: fixing merge conflicts Signed-off-by: AhmedEbrahim * feat: removing rtc handing Signed-off-by: AhmedEbrahim * feat(no_drivable_lane): reflecting refactoring changes to no_drivable_lane Signed-off-by: AhmedEbrahim --------- Signed-off-by: AhmedEbrahim Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../behavior_velocity_planner.param.yaml | 1 + .../no_drivable_lane.param.yaml | 5 ++++ .../tier4_planning_component.launch.xml | 1 + autoware_launch/rviz/autoware.rviz | 24 +++++++++++++++++++ 4 files changed, 31 insertions(+) create mode 100644 autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 6f1341cb02..bbd7cd9592 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -12,6 +12,7 @@ launch_run_out: false launch_speed_bump: false launch_out_of_lane: true + launch_no_drivable_lane: false forward_path_length: 1000.0 backward_path_length: 5.0 stop_line_extend_length: 5.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml new file mode 100644 index 0000000000..d75acfc0b6 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + no_drivable_lane: + stop_margin: 1.5 # Stop margin before the no drivable lane [m] + print_debug_info: false diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 2afb669018..fc868add66 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -58,6 +58,7 @@ + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 484ea7e8fd..a3db702f99 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1639,6 +1639,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoDrivableLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane + Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group @@ -1909,6 +1921,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoDrivableLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane + Value: false Enabled: false Name: DebugMarker - Class: rviz_common/Group From 0207a00964fca6fb549423a35b6f881a45ef06df Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 30 May 2023 17:34:38 +0900 Subject: [PATCH 2/2] feat(lane_change): check lateral offset at lc finish judgement (#375) Signed-off-by: satoshi-ota --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index fe24eca17d..2b736a947e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -50,5 +50,7 @@ aborting_time: 5.0 # [s] abort_max_lateral_jerk: 100.0 # [m/s3] + finish_judge_lateral_threshold: 0.2 # [m] + # debug publish_debug_marker: false