feat(simple_planning_simulator): add delay model of velocity and steering #235

kyoichi-sugahara · 2022-01-07T06:30:21Z

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Description(required)

Added delay model of velocity and steer wchich is used in simple planning simulator

Review Procedure(required)

change the param to DELAY_STEER_VEL in the file below
https://github.com/tier4/lexus_description.iv/blob/tier4/universe/config/simulator_model.param.yaml#L5

and excute command below
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=path_to_map vehicle_model:=lexus sensor_model:=aip_xx1

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

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

Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* ci: add check-build-depends.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: simplify build_depends.repos Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: remove exec_depend Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: use register-autonomoustuff-repository Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: add setup tasks to other workflows Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* ci: update .yamllint.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: fix for yamllint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* fix: fix compile error of pointcloud preprocessor Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for had map utils Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for behavior velocity planner Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for compare map segmentation Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for occupancy grid map outlier filter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for detection by tracker Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: restore comment Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* fix: set control_mode false before autoware engage Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add input/engage remap in launch Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

takayuki5168 · 2022-01-07T07:42:44Z

Is this work in progress?

kyoichi-sugahara · 2022-01-07T07:44:28Z

forgot to open... thanks!

taikitanaka3 · 2022-01-07T08:45:18Z

working nicely

DELAY_STEER_VEL

IDEAL_STEER_VEL

takayuki5168

LGTM

* release v0.4.0 * add control mode status (autowarefoundation#709) Signed-off-by: Yamato Ando <yamato.ando@gmail.com> * Change localization diag namespace (autowarefoundation#718) * Change default value of output_diagnostics_topic Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove localization_diagnostic.js from web_controller Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Integrate localization diag to diagnostic_aggregator Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Delete old and unused publisher Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add sample ros2 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 741214959ba02ec8650c62538581d9df9116eef8. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Port web controller (autowarefoundation#235) * [autoware_web_controller] intial port to ROS2 Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add missing dependencies Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove dependency to ament_cmake_auto and depend on ament_cmake Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_web_controller] add messages to exec_depend Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_web_controller] moved files in www into autoware_web_controller directory Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Ros2 v0.8.0 engage (autowarefoundation#342) * [autoware_vehicle_msgs]: Add engage message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [as]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [awapi_awiv_adapter]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [web_controller]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [vehicle_cmd_gate]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_state_monitor]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_control_msgs]: Remove EngageMode message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [simple_planning_simulator]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix autoware web controller (autowarefoundation#389) * fix message types Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix subscriber for autoware_engage Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix vehicle_engage.js Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix function syntax for vehicle_engage.js Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add use_sim-time option (autowarefoundation#454) * Format launch files (autowarefoundation#1219) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add pre-commit (autowarefoundation#1560) * add pre-commit * add pre-commit-config * add additional settings for private repository * use default pre-commit-config * update pre-commit setting * Ignore whitespace for line breaks in markdown * Update .github/workflows/pre-commit.yml Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * exclude svg * remove pretty-format-json * add double-quote-string-fixer * consider COLCON_IGNORE file when seaching modified package * format file * pre-commit fixes * Update pre-commit.yml * Update .pre-commit-config.yaml Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: pre-commit <pre-commit@example.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Add markdownlint and prettier (autowarefoundation#1661) * Add markdownlint and prettier Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Improve avoidance algorithm in behavior_path_planner (autowarefoundation#2127) * add debug comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use same clock and logger Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove Frenet struct Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Correspond exactly to the modified and raw shift points. Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * separate structure file Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix return shift calculation Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add index info on path marker Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update returnSHift func Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update param Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update findNewShiftPoiint logic by using linear shifter Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix return distance calculation Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix return shift for steep shape Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix for return shift after approval Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * re-fix for return shift after approval Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * re-re-fix for return shift after approval Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add same object_id shift for parent_ids even if it is not overwrapped. Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix clock for approval_handler Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix bug: extra_return_shift is not registered Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update - update logic of unique check for registered shift - update addReturnShift func to support for opposite obstacle case - disable trimSmallShift Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use relative shift for avoid start point Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update path_shifter: use end_point shift for relative shift calculation so that the desired shift length is set at shift_point's end_idx (before, it was set at the end point of the path) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update: select existing shift point that will be removed before adding a new one Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix path_shifter: current_shift for linear shift Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update - add ignore over-jerk shift function - improve debug print Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update - add control flag for debug print - add control flag for debug marker Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * TMP: add sparse resampling to reduce computational cost Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update parameter: min_nominal_avoidance_speed 3.0 -> 5.0 Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change - move some debug functions to debug.cpp - remove temporal debug comment - remove unused params - parametrize some values - align function decleration order Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add empty avoidance design Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * applly format Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix design.md directory Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change variable nale sudden, tight -> sharp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix default value Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add design Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move some functions to util Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix design typo Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove temporal mutable & adjust function name Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * parametrize some hard-coded params Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * follow ament_uncrustify & cpplint Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix parent_id inheritance bug Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * back to experiment config Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update trim filter: trimSharpReturn Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add lost-detection compensator Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * resolve todo for empty path Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * change param: set false for debug publisher Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update debug comment Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove unused debug print Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update default param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use closest footpoint from ego for avoidance point Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move lateral and longitudinal distance calculation to util Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * simplify mergeShift function Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix readme style Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * revert unexpected changes Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * - remove unused comment - translate to english Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix/update velocity limit topic name (autowarefoundation#2223) * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * autoware_web_controller port to .auto (autowarefoundation#522) * Porting to .auto * Modified web url * [autowere_web_controller/autoware_state_monitor/emergency_handler]fix some packages (autowarefoundation#603) * fix vehicle_engage.js * fix autoware_state_monitor param * fix emergency_handler * oh * update autoware_state.js * [autoware_web_controller]add readme (autowarefoundation#611) * add png * add readme * Update common/util/web_controller/autoware_web_controller/README.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * apply format * fix type Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix depend * ci(pre-commit): autofix Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: pre-commit <pre-commit@example.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

…ring (autowarefoundation#235) * add delay steer vel in psim Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change wz to steer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix param description Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify readme Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify cmake Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci: change file URL Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: order to create callback (autowarefoundation#220) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * chore: remove unnecessary depends (autowarefoundation#227) * ci: add check-build-depends.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: simplify build_depends.repos Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: remove exec_depend Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: use register-autonomoustuff-repository Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: add setup tasks to other workflows Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci: update .yamllint.yaml (autowarefoundation#229) * ci: update .yamllint.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: fix for yamllint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: remove warning for compile error (autowarefoundation#198) * fix: fix compile error of pointcloud preprocessor Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for had map utils Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for behavior velocity planner Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for compare map segmentation Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for occupancy grid map outlier filter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for detection by tracker Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: restore comment Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: set control_mode false before autoware engage (autowarefoundation#232) * fix: set control_mode false before autoware engage Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add input/engage remap in launch Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: library path (autowarefoundation#225) Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: interpolation (autowarefoundation#791) (autowarefoundation#218) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add missing function definition in .cpp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * set input and state for DELAY_STEER_VEL model Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: fix typo Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>

* release v0.4.0 * add control mode status (autowarefoundation#709) Signed-off-by: Yamato Ando <yamato.ando@gmail.com> * Change localization diag namespace (autowarefoundation#718) * Change default value of output_diagnostics_topic Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove localization_diagnostic.js from web_controller Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Integrate localization diag to diagnostic_aggregator Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Delete old and unused publisher Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add sample ros2 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 741214959ba02ec8650c62538581d9df9116eef8. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Port web controller (autowarefoundation#235) * [autoware_web_controller] intial port to ROS2 Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add missing dependencies Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove dependency to ament_cmake_auto and depend on ament_cmake Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_web_controller] add messages to exec_depend Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_web_controller] moved files in www into autoware_web_controller directory Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Ros2 v0.8.0 engage (autowarefoundation#342) * [autoware_vehicle_msgs]: Add engage message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [as]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [awapi_awiv_adapter]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [web_controller]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [vehicle_cmd_gate]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_state_monitor]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_control_msgs]: Remove EngageMode message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [simple_planning_simulator]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix autoware web controller (autowarefoundation#389) * fix message types Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix subscriber for autoware_engage Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix vehicle_engage.js Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix function syntax for vehicle_engage.js Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add use_sim-time option (autowarefoundation#454) * Format launch files (autowarefoundation#1219) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add pre-commit (autowarefoundation#1560) * add pre-commit * add pre-commit-config * add additional settings for private repository * use default pre-commit-config * update pre-commit setting * Ignore whitespace for line breaks in markdown * Update .github/workflows/pre-commit.yml Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * exclude svg * remove pretty-format-json * add double-quote-string-fixer * consider COLCON_IGNORE file when seaching modified package * format file * pre-commit fixes * Update pre-commit.yml * Update .pre-commit-config.yaml Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: pre-commit <pre-commit@example.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Add markdownlint and prettier (autowarefoundation#1661) * Add markdownlint and prettier Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Improve avoidance algorithm in behavior_path_planner (autowarefoundation#2127) * add debug comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use same clock and logger Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove Frenet struct Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Correspond exactly to the modified and raw shift points. Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * separate structure file Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix return shift calculation Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add index info on path marker Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update returnSHift func Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update param Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update findNewShiftPoiint logic by using linear shifter Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix return distance calculation Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix return shift for steep shape Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix for return shift after approval Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * re-fix for return shift after approval Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * re-re-fix for return shift after approval Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add same object_id shift for parent_ids even if it is not overwrapped. Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix clock for approval_handler Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix bug: extra_return_shift is not registered Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update - update logic of unique check for registered shift - update addReturnShift func to support for opposite obstacle case - disable trimSmallShift Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use relative shift for avoid start point Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update path_shifter: use end_point shift for relative shift calculation so that the desired shift length is set at shift_point's end_idx (before, it was set at the end point of the path) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update: select existing shift point that will be removed before adding a new one Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix path_shifter: current_shift for linear shift Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update - add ignore over-jerk shift function - improve debug print Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update - add control flag for debug print - add control flag for debug marker Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * TMP: add sparse resampling to reduce computational cost Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update parameter: min_nominal_avoidance_speed 3.0 -> 5.0 Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change - move some debug functions to debug.cpp - remove temporal debug comment - remove unused params - parametrize some values - align function decleration order Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add empty avoidance design Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * applly format Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix design.md directory Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change variable nale sudden, tight -> sharp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix default value Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add design Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move some functions to util Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix design typo Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove temporal mutable & adjust function name Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * parametrize some hard-coded params Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * follow ament_uncrustify & cpplint Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * fix parent_id inheritance bug Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * back to experiment config Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update trim filter: trimSharpReturn Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * add lost-detection compensator Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * resolve todo for empty path Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * change param: set false for debug publisher Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update debug comment Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * remove unused debug print Signed-off-by: TakaHoribe <horibe.takamasa@gmail.com> * update default param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use closest footpoint from ego for avoidance point Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move lateral and longitudinal distance calculation to util Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * simplify mergeShift function Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix readme style Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * revert unexpected changes Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * - remove unused comment - translate to english Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix/update velocity limit topic name (autowarefoundation#2223) * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * autoware_web_controller port to .auto (autowarefoundation#522) * Porting to .auto * Modified web url * [autowere_web_controller/autoware_state_monitor/emergency_handler]fix some packages (autowarefoundation#603) * fix vehicle_engage.js * fix autoware_state_monitor param * fix emergency_handler * oh * update autoware_state.js * [autoware_web_controller]add readme (autowarefoundation#611) * add png * add readme * Update common/util/web_controller/autoware_web_controller/README.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * apply format * fix type Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix depend * ci(pre-commit): autofix Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: pre-commit <pre-commit@example.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

…ring (autowarefoundation#235) * add delay steer vel in psim Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change wz to steer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix param description Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify readme Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify cmake Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci: change file URL Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: order to create callback (autowarefoundation#220) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * chore: remove unnecessary depends (autowarefoundation#227) * ci: add check-build-depends.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: simplify build_depends.repos Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: remove exec_depend Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: use register-autonomoustuff-repository Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: add setup tasks to other workflows Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * ci: update .yamllint.yaml (autowarefoundation#229) * ci: update .yamllint.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: fix for yamllint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: remove warning for compile error (autowarefoundation#198) * fix: fix compile error of pointcloud preprocessor Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for had map utils Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for behavior velocity planner Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for compare map segmentation Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for occupancy grid map outlier filter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: fix compiler warning for detection by tracker Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: restore comment Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: set control_mode false before autoware engage (autowarefoundation#232) * fix: set control_mode false before autoware engage Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add input/engage remap in launch Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: library path (autowarefoundation#225) Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: interpolation (autowarefoundation#791) (autowarefoundation#218) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add missing function definition in .cpp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * set input and state for DELAY_STEER_VEL model Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix: fix typo Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>

* fix: delete aip dependents * Update package.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

…n#235) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…ts (autowarefoundation#235) * feat: first draft proposal implementation for handling invalid lanelets Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * style(pre-commit): autofix * feat: adding invalid lanelet for rviz visualization Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: fixing review comment Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: changing module name from invalid_lanelet to no_drivable_lane Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: fixing merge conflict mistakes Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: fixing merge conflict mistakes Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: fixing merge conflicts Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: removing rtc handing Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat(no_drivable_lane): reflecting refactoring changes to no_drivable_lane Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> --------- Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

kyoichi-sugahara and others added 17 commits January 7, 2022 15:41

add delay steer vel in psim

a6d03ff

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

change wz to steer

3784671

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

fix param description

e17aa54

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

modify readme

81a66e0

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

modify cmake

de95825

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

ci: change file URL

ca2d08a

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

fix: order to create callback (#220)

52ba659

Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

ci: update .yamllint.yaml (#229)

cfd514e

* ci: update .yamllint.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: fix for yamllint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

fix: library path (#225)

6636344

Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

fix: interpolation (#791) (#218)

4e71e29

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

add missing function definition in .cpp

a1047a1

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

set input and state for DELAY_STEER_VEL model

095687f

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

fix: fix typo

568a478

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'tier4/proposal' into add-delay-steer-vel-in-psim

4dc308f

kyoichi-sugahara requested review from tkimura4, taikitanaka3 and takayuki5168 January 7, 2022 07:29

kyoichi-sugahara marked this pull request as ready for review January 7, 2022 07:43

takayuki5168 approved these changes Jan 8, 2022

View reviewed changes

takayuki5168 merged commit 5f09a5d into autowarefoundation:tier4/proposal Jan 8, 2022

takayuki5168 mentioned this pull request Jan 8, 2022

Add delay model of velocity and steering #236

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autowarefoundation deleted a comment from taikitanaka3 Jan 8, 2022

autowarefoundation deleted a comment from kyoichi-sugahara Jan 8, 2022

TomohitoAndo pushed a commit to TomohitoAndo/autoware.universe that referenced this pull request Oct 5, 2022

Add description to PULL_REQUEST_TEMPLATE (autowarefoundation#235)

5658d66

shmpwk pushed a commit to shmpwk/autoware.universe that referenced this pull request Jan 9, 2023

fix(behavior_path_planner): build avoidance module (autowarefoundatio…

db3104b

…n#235) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

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feat(simple_planning_simulator): add delay model of velocity and steering #235

feat(simple_planning_simulator): add delay model of velocity and steering #235

kyoichi-sugahara commented Jan 7, 2022 •

edited

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takayuki5168 commented Jan 7, 2022

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feat(simple_planning_simulator): add delay model of velocity and steering #235

feat(simple_planning_simulator): add delay model of velocity and steering #235

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kyoichi-sugahara commented Jan 7, 2022 • edited Loading

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kyoichi-sugahara commented Jan 7, 2022 •

edited

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