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feat: add behavior_velocity_planner package #27

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merged 134 commits into from
Dec 7, 2021
Merged

feat: add behavior_velocity_planner package #27

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05178e9
release v0.4.0
mitsudome-r Sep 18, 2020
33047c0
Fix typo (#700)
kenji-miyake Jul 16, 2020
8722fcb
Fix detection area (#701)
kenji-miyake Jul 17, 2020
a5f0dc1
intersection: change detection area length parameter from 100m to 200…
TakaHoribe Jul 17, 2020
ac8b68c
intersection: fix stuck vehicle behavior (#695)
TakaHoribe Jul 19, 2020
bb65801
Feature/intersection use spline interpolation library (#710)
rej55 Jul 29, 2020
7e85942
Feature/stop reason (#712)
tkimura4 Aug 3, 2020
2952e9e
Fix/stop reason (#724)
tkimura4 Aug 3, 2020
ba67138
Fix/spline interpolation in intersection module (#726)
rej55 Aug 4, 2020
9e20c34
fix clac signed distance bug (#733)
Aug 5, 2020
b1a1f94
intersection: ignore stop plane when path[0] is in detection area (#739)
TakaHoribe Aug 10, 2020
387219e
Publish tl states stamped (#744)
wep21 Aug 11, 2020
d0c3f44
update visualization marker (#759)
tkimura4 Aug 12, 2020
a977d4b
fix stack area (#758)
tkimura4 Aug 12, 2020
507e9e1
dont check pointcloud (#765)
yukkysaito Aug 13, 2020
fcae4f6
fix stop factor of merge_from_private_area (#749)
tkimura4 Aug 14, 2020
200f6d4
Revert "Publish tl states stamped (#744)" (#771)
yukkysaito Aug 14, 2020
959509e
fix intersection bug (#773)
tkimura4 Aug 14, 2020
93cc124
change uid of marker (#775)
tkimura4 Aug 14, 2020
d19aa9a
Fix/publish tl state stamped (#772)
wep21 Aug 14, 2020
32a06bb
Fix blind spot areas and logic for creating a stop line (#732)
wep21 Aug 17, 2020
a095222
Fix/intersection stuck detect area (#764)
tkimura4 Aug 17, 2020
999696a
avoid to input -1 index (#777)
tkimura4 Aug 18, 2020
6be0c2e
add dead line and pass through when over dead line (#784)
Aug 18, 2020
4ff6df4
Add arg for input tl topic name (#783)
wep21 Aug 19, 2020
0ecc942
change margin to 1.0m (#790)
yukkysaito Aug 19, 2020
f22ae30
fix insert target point bug (#798)
Aug 20, 2020
f3246e1
fix typo stop_liine to stop_line (#799)
TakaHoribe Aug 20, 2020
d68ca0d
traffic light scene module : fix bug and change param (#800)
yukkysaito Aug 20, 2020
dad6b7d
Intersection add debug comment (#803)
TakaHoribe Aug 20, 2020
eebc1b2
Fix intersection preceeding lane query (#807)
mitsudome-r Aug 20, 2020
1e1b90d
Fix blind spot area (#806)
wep21 Aug 20, 2020
3d11a9c
Revert "fix insert target point bug (#798)" (#815)
yukkysaito Aug 21, 2020
c08fa7a
Fix/traffic light state (#801)
yukkysaito Aug 21, 2020
a036d0d
change param (#821)
yukkysaito Aug 22, 2020
ae29380
stopline: parametrize check distance (#825)
TakaHoribe Aug 23, 2020
1ba75cd
Check if lanelets are sequential (#823)
wep21 Aug 24, 2020
4d38eae
fix uninitialized variables (#816)
kmiya Aug 25, 2020
f78eafb
Parameterization for calculating judge line distance (#831)
wep21 Aug 25, 2020
891f802
remove ROS1 packages temporarily
mitsudome-r Sep 29, 2020
0640659
Revert "remove ROS1 packages temporarily"
mitsudome-r Oct 8, 2020
7051d9d
add COLCON_IGNORE to ros1 packages
mitsudome-r Oct 8, 2020
229f1b1
Rename launch files to launch.xml (#28)
nnmm Oct 15, 2020
6701aa1
Port behavior_velocity_planner to ROS2 (#80)
nnmm Nov 16, 2020
59513fd
[ROS2] Fix behavior velocity planner (#110)
mitsudome-r Nov 24, 2020
6e0494b
Convert calls of Duration to Duration::from_seconds where appropriate…
nnmm Nov 30, 2020
c63af23
Rename h files to hpp (#142)
nnmm Dec 3, 2020
129a6df
Adjust copyright notice on 532 out of 699 source files (#143)
nnmm Dec 3, 2020
b22e4a4
Use quotes for includes where appropriate (#144)
nnmm Dec 7, 2020
b842c2e
Run uncrustify on the entire Pilot.Auto codebase (#151)
nnmm Dec 8, 2020
40bc0dd
fixing trasient_local in ROS2 packages (#160)
nik-tier4 Dec 11, 2020
fd20708
Enable cppcheck lints in behavior_velocity_planner (#159)
nnmm Dec 15, 2020
abc663b
Make launch files load vehicle model params dependent on argument (#228)
nnmm Dec 23, 2020
76d094f
change from vehicle_model to vehicle_param_file (#242)
k0suke-murakami Dec 24, 2020
4ee0eea
Ros2 v0.8 fix typo of "preceding" (#323)
isamu-takagi Feb 10, 2021
6b16c56
Ros2 v0.8.0 behavior velocity planner (#332)
taikitanaka3 Feb 17, 2021
dffb4a7
Rename ROS-related .yaml to .param.yaml (#352)
kenji-miyake Feb 24, 2021
e60bcd1
[behavior_velocity_planner]: Fix missing ros2 porting (#392)
wep21 Mar 1, 2021
e67ac6b
Fix error handling of tf lookupTransform (#405)
kenji-miyake Mar 4, 2021
99352a9
rm_std_msgs (#402)
taikitanaka3 Mar 5, 2021
0804e20
Sensor data qos (#407)
wep21 Mar 11, 2021
898dfad
Ros2 fix topic name part1 (#408)
isamu-takagi Mar 12, 2021
f07f801
Fix typo in planning module (#432)
kmiya Mar 18, 2021
674c0c8
fix traffic light module (#458)
tkimura4 Mar 25, 2021
5bc0e7f
change log type (#459)
tkimura4 Mar 25, 2021
8ff16c0
add use_sim-time option (#454)
tkimura4 Mar 26, 2021
8d572b4
Fix rolling build errors (#1225)
kenji-miyake Apr 5, 2021
6411e8f
Sync public repo (#1228)
mitsudome-r Apr 5, 2021
4f074f9
Unify Apache-2.0 license name (#1242)
kmiya Apr 15, 2021
388d818
Make planning modules components (#1263)
wep21 Apr 22, 2021
79189a4
Remove use_sim_time for set_parameter (#1260)
wep21 Apr 26, 2021
4df2065
Refactor vehicle info util (#1305)
kenji-miyake May 11, 2021
02583e9
fix slow/stop marker color & stop reason (#1347) (#1354)
wep21 May 20, 2021
4931bd8
fix intersection stop line (#1272) (#1349)
wep21 May 20, 2021
baf45a8
Avoid passing empty lanelets to getPolygonFromArcLength (#1371)
wep21 May 24, 2021
9da8191
Add perception traffic light state output (#1302)
isamu-takagi May 24, 2021
0a89257
Feature/consider jerk limit in passjudge (#1339) (#1351)
wep21 May 24, 2021
45b072d
Feature/refactor stop line module (#1343) (#1359)
wep21 May 27, 2021
ae02c52
Feature/add stop duration ros2 (#1380)
wep21 May 27, 2021
af0fd04
Fix topic name of external traffic light input (#1412)
wep21 Jun 3, 2021
9cfeb1e
publish perception and external tl_state for mlops (#1350) (#1375)
tkimura4 Jun 16, 2021
2528479
Fix/traffic light planning module (#1424) (#1487)
wep21 Jun 19, 2021
265591e
change msg type looking traffic light state (#1494)
wep21 Jun 23, 2021
1bdfdb2
Add namespace to behavior_velocity_planner (#1542)
kenji-miyake Jun 29, 2021
9eef52c
Avoid passing uninitialized index (#1609)
wep21 Jul 9, 2021
8f03da2
suppress warnings for behavior_velocity_planner (#1733)
h-ohta Aug 2, 2021
ebacc37
Fix -Wunused-parameter (#1836)
kenji-miyake Aug 14, 2021
fa04a7c
Fix compiler warnings (#1837)
kenji-miyake Aug 15, 2021
fcedbfb
Add autoware api (#1979)
isamu-takagi Aug 31, 2021
3ca9479
Feature/add virtual traffic light planner (#1588)
kenji-miyake Sep 3, 2021
a983fbb
add sort-package-xml hook in pre-commit (#1881)
KeisukeShima Sep 9, 2021
c9c7370
remove spline_interpolation, and create interpolation package that ha…
takayuki5168 Oct 1, 2021
8118441
Sync develop/fix interpolation and speed up calculation (#2290)
mkuri Nov 1, 2021
abbda26
fix argument order (#1502) (#1622)
wep21 Oct 21, 2021
591ad57
Change param (#1559) (#1677)
wep21 Oct 21, 2021
6a6b190
Feature/use spline module in behavior velocity planner (#1457) (#1495)
wep21 Oct 21, 2021
39c1645
Feature/porting behavior path planner (#1645)
wep21 Oct 21, 2021
634a59f
Fix/generate intersection stop (#1590) (#1679)
wep21 Oct 21, 2021
1f635c2
Fix/stop margin time ros2 (#1683)
wep21 Oct 21, 2021
b40f562
Feature/change stop lines handling to support parking car avoidance p…
wep21 Oct 21, 2021
fb4331e
Feature/porting occlusion spot (#1740)
wep21 Oct 21, 2021
4191dc8
fix function name and condition for detection area (#1758)
taikitanaka3 Oct 21, 2021
a33b0e9
Fix build warning for occlusion spot (#1766)
Oct 21, 2021
556605e
Fix passing uninitialized index (#1792)
wep21 Oct 21, 2021
2b10dd7
Fix/intersection bug (#1787)
tkimura4 Oct 21, 2021
fdbac87
replace velocity if collision point is too close to original path poi…
taikitanaka3 Oct 21, 2021
f6064a5
Fix compile warnings (#1852)
Oct 21, 2021
9b39509
Document / behavior velocity planner (#1767)
taikitanaka3 Oct 21, 2021
e465c0f
fix occlusion spot insert velocity ros2 (#1821)
taikitanaka3 Oct 21, 2021
5f450bf
Fix/current acc initialize (#1899)
satoshi-ota Oct 21, 2021
9a99105
Feature/improve intersection detection area (#1958)
tkimura4 Oct 21, 2021
d8d4486
[behavior_velocity_planner] remove unnecessary graph search to reduce…
TakaHoribe Aug 29, 2021
beba5cb
sort sidewalk slice by arc length (#1967)
taikitanaka3 Aug 30, 2021
a655319
Fix/merge from private area (#2005)
tkimura4 Sep 2, 2021
560d09a
Feature/intersection module detect obstacle (#1990)
tkimura4 Sep 2, 2021
718ae0a
occlusion spot lower min ego velocity (#2140)
taikitanaka3 Sep 29, 2021
986ffcb
add behavior velocity planner utils (#2113)
taikitanaka3 Oct 1, 2021
145bedb
use interpolation::slerp (#2161)
takayuki5168 Oct 4, 2021
cbed845
Update traffic light state if ref stop point is ahead of previous one…
tier4-autoware-private-bot[bot] Oct 17, 2021
3918b12
Change formatter to clang-format and black (#2332)
kenji-miyake Nov 2, 2021
d64fe79
Add COLCON_IGNORE (#500)
kenji-miyake Nov 4, 2021
c4843a6
rename topic name twist -> odometry (#568)
takayuki5168 Nov 10, 2021
93584ab
Auto/behavior velocity (#605)
takayuki5168 Nov 15, 2021
07e751e
Sync .auto branch with the latest branch in internal repository (#691)
wep21 Nov 18, 2021
083d68e
fix include (#710)
taikitanaka3 Nov 22, 2021
2343b21
use original path for calcSlowDownPoints (#723)
tkimura4 Nov 24, 2021
f1c6bac
fix traffic signal judge (#724)
tkimura4 Nov 24, 2021
6d4e268
Auto/separate readme behavior velocity (#730)
taikitanaka3 Nov 25, 2021
e63d69a
Fix no ground pointcloud topic name (#733)
wep21 Nov 25, 2021
59f1696
fix/rename segmentation namespace (#742)
satoshi-ota Nov 29, 2021
2afc791
Merge branch 'tier4/proposal' into 1-add-behavior-velocity-planner
1222-takeshi Dec 4, 2021
6d683cd
Merge branch 'tier4/proposal' into 1-add-behavior-velocity-planner
1222-takeshi Dec 6, 2021
fdb88dc
Merge branch 'tier4/proposal' into 1-add-behavior-velocity-planner
1222-takeshi Dec 6, 2021
3ef9755
Merge branch 'tier4/proposal' into 1-add-behavior-velocity-planner
1222-takeshi Dec 7, 2021
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Convert calls of Duration to Duration::from_seconds where appropriate (… 
…#131)
  • Loading branch information
@nnmm @tkimura4
nnmm authored and tkimura4 committed Nov 30, 2021
commit 6e0494bc8def03ce52f941b3eeeaa23ff54cf549
4 changes: 2 additions & 2 deletions planning/behavior_velocity_planner/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -145,7 +145,7 @@ void BehaviorVelocityPlannerNode::onNoGroundPointCloud(
geometry_msgs::msg::TransformStamped transform;
try {
transform = tf_buffer_.lookupTransform(
"map", msg->header.frame_id, msg->header.stamp, rclcpp::Duration(0.1));
"map", msg->header.frame_id, msg->header.stamp, rclcpp::Duration::from_seconds(0.1));
} catch (tf2::LookupException & e) {
RCLCPP_WARN(get_logger(), "no transform found for no_ground_pointcloud");
return;
Expand Down Expand Up @@ -267,7 +267,7 @@ void BehaviorVelocityPlannerNode::publishDebugMarker(const autoware_planning_msg
marker.scale.y = marker.scale.z = 0.05;
marker.scale.x = 0.25;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.color.a = 0.999; // Don't forget to set the alpha!
marker.color.r = 1.0;
marker.color.g = 1.0;
Expand Down
12 changes: 6 additions & 6 deletions planning/behavior_velocity_planner/src/scene_module/blind_spot/debug.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ visualization_msgs::msg::MarkerArray createPolygonMarkerArray(

marker.ns = ns;
marker.id = uid;
marker.lifetime = rclcpp::Duration(0.3);
marker.lifetime = rclcpp::Duration::from_seconds(0.3);
marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.orientation = createMarkerOrientation(0, 0, 0, 1.0);
Expand Down Expand Up @@ -69,7 +69,7 @@ visualization_msgs::msg::MarkerArray createObjectsMarkerArray(
int32_t i = 0;
for (const auto & object : objects.objects) {
marker.id = uid + i++;
marker.lifetime = rclcpp::Duration(1.0);
marker.lifetime = rclcpp::Duration::from_seconds(1.0);
marker.type = visualization_msgs::msg::Marker::SPHERE;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose = object.state.pose_covariance.pose;
Expand All @@ -91,7 +91,7 @@ visualization_msgs::msg::MarkerArray createPathMarkerArray(
marker.header.frame_id = "map";
marker.ns = ns;
marker.id = lane_id;
marker.lifetime = rclcpp::Duration(0.3);
marker.lifetime = rclcpp::Duration::from_seconds(0.3);
marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.orientation = createMarkerOrientation(0, 0, 0, 1.0);
Expand All @@ -116,7 +116,7 @@ visualization_msgs::msg::MarkerArray createVirtualWallMarkerArray(
marker_virtual_wall.header.frame_id = "map";
marker_virtual_wall.ns = "stop_virtual_wall";
marker_virtual_wall.id = lane_id;
marker_virtual_wall.lifetime = rclcpp::Duration(0.5);
marker_virtual_wall.lifetime = rclcpp::Duration::from_seconds(0.5);
marker_virtual_wall.type = visualization_msgs::msg::Marker::CUBE;
marker_virtual_wall.action = visualization_msgs::msg::Marker::ADD;
marker_virtual_wall.pose = pose;
Expand All @@ -129,7 +129,7 @@ visualization_msgs::msg::MarkerArray createVirtualWallMarkerArray(
marker_factor_text.header.frame_id = "map";
marker_factor_text.ns = "factor_text";
marker_factor_text.id = lane_id;
marker_factor_text.lifetime = rclcpp::Duration(0.5);
marker_factor_text.lifetime = rclcpp::Duration::from_seconds(0.5);
marker_factor_text.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker_factor_text.action = visualization_msgs::msg::Marker::ADD;
marker_factor_text.pose = pose;
Expand All @@ -153,7 +153,7 @@ visualization_msgs::msg::MarkerArray createPoseMarkerArray(
marker_line.header.frame_id = "map";
marker_line.ns = ns + "_line";
marker_line.id = id;
marker_line.lifetime = rclcpp::Duration(0.3);
marker_line.lifetime = rclcpp::Duration::from_seconds(0.3);
marker_line.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker_line.action = visualization_msgs::msg::Marker::ADD;
marker_line.pose.orientation = createMarkerOrientation(0, 0, 0, 1.0);
Expand Down
30 changes: 15 additions & 15 deletions planning/behavior_velocity_planner/src/scene_module/crosswalk/debug.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(

marker.ns = "crosswalk polygon line";
marker.id = uid + i;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.position.x = 0;
Expand All @@ -65,7 +65,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(

marker.ns = "crosswalk polygon point";
marker.id = i;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::POINTS;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.position.x = 0;
Expand Down Expand Up @@ -97,7 +97,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(
marker.header.frame_id = "map";
marker.ns = "collision line";
marker.id = uid + i;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.position.x = 0;
Expand Down Expand Up @@ -128,7 +128,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(
marker.header.frame_id = "map";
marker.ns = "collision point";
marker.id = 0;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::POINTS;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.position.x = 0;
Expand Down Expand Up @@ -163,7 +163,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(

marker.ns = "slow polygon line";
marker.id = uid + i;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.position.x = 0;
Expand Down Expand Up @@ -195,7 +195,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(
marker.header.frame_id = "map";
marker.ns = "slow point";
marker.id = 0;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::POINTS;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.position.x = 0;
Expand Down Expand Up @@ -230,7 +230,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(

marker.ns = "stop polygon line";
marker.id = uid + i;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.position.x = 0;
Expand Down Expand Up @@ -262,7 +262,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(
marker.header.frame_id = "map";
marker.ns = "stop point";
marker.id = module_id;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::POINTS;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.position.x = 0;
Expand Down Expand Up @@ -294,7 +294,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(
marker.header.frame_id = "map";
marker.ns = "stop_virtual_wall";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -317,7 +317,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(
marker.header.frame_id = "map";
marker.ns = "factor_text";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -342,7 +342,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(
marker.header.frame_id = "map";
marker.ns = "slow virtual_wall";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -365,7 +365,7 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers(
marker.header.frame_id = "map";
marker.ns = "slow factor_text";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand Down Expand Up @@ -401,7 +401,7 @@ visualization_msgs::msg::MarkerArray createWalkwayMarkers(
marker.header.frame_id = "map";
marker.ns = "stop point";
marker.id = module_id;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::POINTS;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.position.x = 0;
Expand Down Expand Up @@ -433,7 +433,7 @@ visualization_msgs::msg::MarkerArray createWalkwayMarkers(
marker.header.frame_id = "map";
marker.ns = "stop_virtual_wall";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -456,7 +456,7 @@ visualization_msgs::msg::MarkerArray createWalkwayMarkers(
marker.header.frame_id = "map";
marker.ns = "factor_text";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand Down
6 changes: 3 additions & 3 deletions planning/behavior_velocity_planner/src/scene_module/detection_area/debug.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ visualization_msgs::msg::MarkerArray createMarkerArray(
marker.header.frame_id = "map";
marker.ns = "stop_virtual_wall";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -61,7 +61,7 @@ visualization_msgs::msg::MarkerArray createMarkerArray(
marker.header.frame_id = "map";
marker.ns = "dead_line_virtual_wall";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -84,7 +84,7 @@ visualization_msgs::msg::MarkerArray createMarkerArray(
marker.header.frame_id = "map";
marker.ns = "factor_text";
marker.id = j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand Down
14 changes: 7 additions & 7 deletions planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ visualization_msgs::msg::MarkerArray createLaneletPolygonsMarkerArray(

marker.ns = ns;
marker.id = uid + i++;
marker.lifetime = rclcpp::Duration(0.3);
marker.lifetime = rclcpp::Duration::from_seconds(0.3);
marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.orientation = createMarkerOrientation(0, 0, 0, 1.0);
Expand Down Expand Up @@ -68,7 +68,7 @@ visualization_msgs::msg::MarkerArray createPolygonMarkerArray(

marker.ns = ns;
marker.id = lane_id;
marker.lifetime = rclcpp::Duration(0.3);
marker.lifetime = rclcpp::Duration::from_seconds(0.3);
marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose.orientation = createMarkerOrientation(0, 0, 0, 1.0);
Expand Down Expand Up @@ -101,7 +101,7 @@ visualization_msgs::msg::MarkerArray createObjectsMarkerArray(
int32_t i = 0;
for (const auto & object : objects.objects) {
marker.id = uid + i++;
marker.lifetime = rclcpp::Duration(1.0);
marker.lifetime = rclcpp::Duration::from_seconds(1.0);
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose = object.state.pose_covariance.pose;
Expand All @@ -125,7 +125,7 @@ visualization_msgs::msg::MarkerArray createPathMarkerArray(
marker.header.frame_id = "map";
marker.ns = ns;
marker.id = uid + i++;
marker.lifetime = rclcpp::Duration(0.3);
marker.lifetime = rclcpp::Duration::from_seconds(0.3);
marker.type = visualization_msgs::msg::Marker::ARROW;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.pose = p.point.pose;
Expand All @@ -151,7 +151,7 @@ visualization_msgs::msg::MarkerArray createVirtualWallMarkerArray(
marker_virtual_wall.header.frame_id = "map";
marker_virtual_wall.ns = "stop_virtual_wall";
marker_virtual_wall.id = lane_id;
marker_virtual_wall.lifetime = rclcpp::Duration(0.5);
marker_virtual_wall.lifetime = rclcpp::Duration::from_seconds(0.5);
marker_virtual_wall.type = visualization_msgs::msg::Marker::CUBE;
marker_virtual_wall.action = visualization_msgs::msg::Marker::ADD;
marker_virtual_wall.pose = pose;
Expand All @@ -164,7 +164,7 @@ visualization_msgs::msg::MarkerArray createVirtualWallMarkerArray(
marker_factor_text.header.frame_id = "map";
marker_factor_text.ns = "factor_text";
marker_factor_text.id = lane_id;
marker_factor_text.lifetime = rclcpp::Duration(0.5);
marker_factor_text.lifetime = rclcpp::Duration::from_seconds(0.5);
marker_factor_text.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker_factor_text.action = visualization_msgs::msg::Marker::ADD;
marker_factor_text.pose = pose;
Expand All @@ -187,7 +187,7 @@ visualization_msgs::msg::MarkerArray createPoseMarkerArray(
marker_line.header.frame_id = "map";
marker_line.ns = ns + "_line";
marker_line.id = id;
marker_line.lifetime = rclcpp::Duration(0.3);
marker_line.lifetime = rclcpp::Duration::from_seconds(0.3);
marker_line.type = visualization_msgs::msg::Marker::LINE_STRIP;
marker_line.action = visualization_msgs::msg::Marker::ADD;
marker_line.pose.orientation = createMarkerOrientation(0, 0, 0, 1.0);
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_velocity_planner/src/scene_module/stop_line/debug.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ visualization_msgs::msg::MarkerArray createMarkers(
marker.header.frame_id = "map";
marker.ns = "stop_virtual_wall";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -61,7 +61,7 @@ visualization_msgs::msg::MarkerArray createMarkers(
marker.header.frame_id = "map";
marker.ns = "factor_text";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand Down
8 changes: 4 additions & 4 deletions planning/behavior_velocity_planner/src/scene_module/traffic_light/debug.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ visualization_msgs::msg::MarkerArray createMarkerArray(
marker.header.frame_id = "map";
marker.ns = "stop_virtual_wall";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -61,7 +61,7 @@ visualization_msgs::msg::MarkerArray createMarkerArray(
marker.header.frame_id = "map";
marker.ns = "factor_text";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -85,7 +85,7 @@ visualization_msgs::msg::MarkerArray createMarkerArray(
marker.header.frame_id = "map";
marker.ns = "dead line virtual_wall";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand All @@ -108,7 +108,7 @@ visualization_msgs::msg::MarkerArray createMarkerArray(
marker.header.frame_id = "map";
marker.ns = "dead line factor_text";
marker.id = uid + j;
marker.lifetime = rclcpp::Duration(0.5);
marker.lifetime = rclcpp::Duration::from_seconds(0.5);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.action = visualization_msgs::msg::Marker::ADD;
tf2::Transform tf_map2base_link;
Expand Down