feat(behavior_velocity): occlusion spot add partition lanelet #482

taikitanaka3 · 2022-03-06T06:06:00Z

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Description(required)

add partition lanelet with guard rail , fence ,wall tag

blocked by partition(left) not blocked by partition(right)

The reason why it's necessary to refactor DebugData is DebugData was cleared at each step but in this PR partition lanelet is not going to be changed at every step so update DebugData Struct.

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launch psim and place object inside and outside partition lanelet

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taikitanaka3 · 2022-03-06T06:08:18Z

planning/behavior_velocity_planner/config/occlusion_spot.param.yaml

@@ -1,8 +1,9 @@
 /**:
  ros__parameters:
    occlusion_spot:
-      method: "predicted_object"           # [-] candidate is "occupancy_grid" or "predicted_object"
-      debug: false                         # [-] whether to publish debug markers. Note Default should be false for performance
+      method: "occupancy_grid"           # [-] candidate is "occupancy_grid" or "predicted_object"


Note default
method: "predicted_object"
debug: false

change max_lateral_distance to 8.0 to see occlusion spot easily
detection_area:
max_lateral_distance: 8.0 # [m] buffer around the ego path used to build the detection area.

codecov · 2022-03-06T06:36:09Z

Codecov Report

Merging #482 (465808c) into main (84d3790) will decrease coverage by 4.79%.
The diff coverage is 0.00%.

@@            Coverage Diff            @@
##             main    #482      +/-   ##
=========================================
- Coverage   10.94%   6.14%   -4.80%     
=========================================
  Files         705      70     -635     
  Lines       49721    4982   -44739     
  Branches     6656     694    -5962     
=========================================
- Hits         5440     306    -5134     
+ Misses      39919    4532   -35387     
+ Partials     4362     144    -4218

Impacted Files	Coverage Δ
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	`40.00% <0.00%> (-26.67%)`	⬇️
...vior_velocity_planner/include/utilization/util.hpp	`12.00% <ø> (ø)`
..._planner/src/scene_module/occlusion_spot/debug.cpp	`0.00% <0.00%> (ø)`
...lanner/src/scene_module/occlusion_spot/manager.cpp	`0.00% <0.00%> (ø)`
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	`10.22% <0.00%> (+0.22%)`	⬆️
...ene_module/occlusion_spot/scene_occlusion_spot.cpp	`0.00% <0.00%> (ø)`
...usion_spot/scene_occlusion_spot_in_public_road.cpp	`0.00% <0.00%> (ø)`
...behavior_velocity_planner/src/utilization/util.cpp	`32.43% <0.00%> (-1.62%)`	⬇️
...ion/pose_initializer/src/pose_initializer_node.cpp
...ed_clock_rviz_plugin/src/simulated_clock_panel.cpp
... and 633 more

Continue to review full report at Codecov.

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github-actions · 2022-03-07T01:53:10Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-482/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-482/planning/behavior_velocity_planner/occlusion-spot-design/

* release v0.4.0 * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 7f877f288151212d5ee578f070fc7e11bd15ad9f. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Rename launch files to launch.xml (autowarefoundation#28) * ROS2 Porting: scenario_selector (autowarefoundation#101) * Add cmake and package.xml - Remove colcon ignore * First pass: - Remove pubs and subs - Remove lane esoteric lanelet method calls * Add parameter fetching and setting * Add publishers, logging and transforms - Fix createCallback * Remove duration field from lookuptransform * Add topic_tools dependency - launching of rostopic in ROS1 hasn't been ported? * Remove comments from cmake * Remove boost dependency * Remove test parameters * Address PR comments: - Add const reference back - Use initializer list for parameter fetching - Fix fromBinMap reference - Launch publishing from executable tag in launch file * Address PR comment: - Fix launch file launching of ros2 topic publisher * Rename h files to hpp (autowarefoundation#142) * Change includes * Rename files * Adjustments to make things compile * Other packages * Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143) * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * fixing trasient_local in ROS2 packages (autowarefoundation#160) * [scenario_selector_node] fix timer frequency (autowarefoundation#182) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Add linters to scenario_selector (autowarefoundation#157) * Added linters to scenario_selector * Removed duplicate dependencies * Add linters to CMake * Only add cppcheck as linter * Ros2 v0.8.0 scenario selector (autowarefoundation#294) * add use_sim-time option (autowarefoundation#454) * Format launch files (autowarefoundation#1219) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * update first tf (autowarefoundation#1223) * update first tf Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * update Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * Make planning modules components (autowarefoundation#1263) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change trajectory callback implementation (autowarefoundation#1338) (autowarefoundation#1355) * change trajectory callback implementation * change name of callback function * remove unnecessary function * improve readability Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Select LaneDriving scenario if vehicle is in lane and goal is in lane (autowarefoundation#1459) (autowarefoundation#1485) Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: s-azumi <38061530+s-azumi@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> * Fix -Wunused-parameter (autowarefoundation#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix spell * Fix lint issues Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore flake8 warnings Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> * add sort-package-xml hook in pre-commit (autowarefoundation#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply Black Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * port scenario_selector (autowarefoundation#482) * port scenario_selector * remove COLCON_IGNORE * use odom * add nav_msgs dependency Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * [apply_predicted_obj_type] adapt to autoware auto msgs (autowarefoundation#564) * fix obj shape * fix obj shape * fix goal pose * rename topic name twist -> odometry (autowarefoundation#568) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * update iv_msgs -> auto_msgs in planning readme (autowarefoundation#576) * update iv_msgs -> auto_msgs in planning readme * minor change * some fix * some fix Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * fix scenario selector (autowarefoundation#632) * ci(pre-commit): autofix * fix: package title Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@gmail.com> Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Esteve Fernandez <esteve@apache.org> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> 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>

Signed-off-by: taikitanaka <ttatcoder@outlook.jp>

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

taikitanaka3 · 2022-03-10T14:55:29Z

@yukkysaito
I rebased to latest please approve again

* feat(behavior_velocity): add partition lanelet Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): add get partition lanelet to utils Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): remove unused function Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): unite variables Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): apply concept of partition Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): change partition marker color Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * doc(behavior_velocity): update doc Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): to default setting Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

…refoundation#482) * feat(behavior_velocity): add partition lanelet Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): add get partition lanelet to utils Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): remove unused function Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): unite variables Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): apply concept of partition Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): change partition marker color Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * doc(behavior_velocity): update doc Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): to default setting Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

) * feat(behavior_velocity): add partition lanelet Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): add get partition lanelet to utils Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): remove unused function Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): unite variables Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): apply concept of partition Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): change partition marker color Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * doc(behavior_velocity): update doc Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): to default setting Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

…velop sync main for develop

) * feat(behavior_velocity): add partition lanelet Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): add get partition lanelet to utils Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): remove unused function Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): unite variables Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): apply concept of partition Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * chore(behavior_velocity): change partition marker color Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * doc(behavior_velocity): update doc Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): to default setting Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* feat(planning_launch): subscribe acceleration from localization module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(planning_launch): subscribe acceleration from localization module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…e unavoidable (autowarefoundation#3662) (autowarefoundation#482) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>

…oundation#482) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

* ci(sync-files): fix relative links Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * use string mode Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

[universe] 33dbaa4 feat(tier4_perception_launch): make switchable detection by tracker in x2 project (autowarefoundation#964) 940fb2b Merge pull request autowarefoundation#965 from tier4/beta/v0.11.0+PR5356 5aa9db1 feat(map_based_prediction): remove crossing fence path (autowarefoundation#5356) [common] c3a1a19 fix(visualization): display traffic reg elem id (autowarefoundation#210) 36b3825 feat(lanelet2_extention): add getAllFences (autowarefoundation#209) 44dc388 docs(lanelet2_extension): add brief description for crosswalk traffic light (autowarefoundation#208) c360614 feat(lanelet2_extensions): add query curbstones from vector map (autowarefoundation#206) [launcher] a2f88f00 feat(autoware_launch): longer prediction 15.0 -> 20.0 (autowarefoundation#482) 87974c0f fix: fix stop_duration_sec param for merge_from_private (autowarefoundation#516) f5a1dfad fix(autoware_launch): fix parameter for light weight grand segmentation (autowarefoundation#506)

taikitanaka3 changed the title ~~258 feat occlusion spot add partition~~ feat(behavior_velocity): occlusion spot add partition lanelet Mar 6, 2022

taikitanaka3 commented Mar 6, 2022

View reviewed changes

taikitanaka3 requested a review from yukkysaito March 7, 2022 00:59

taikitanaka3 marked this pull request as ready for review March 7, 2022 01:22

taikitanaka3 added the type:documentation Creating or refining documentation. (auto-assigned) label Mar 7, 2022

taikitanaka3 added 8 commits March 10, 2022 20:45

feat(behavior_velocity): add partition lanelet

57129a5

Signed-off-by: taikitanaka <ttatcoder@outlook.jp>

feat(behavior_velocity): add get partition lanelet to utils

594f76f

Signed-off-by: taikitanaka <ttatcoder@outlook.jp>

chore(behavior_velocity): remove unused function

16c446a

Signed-off-by: taikitanaka <ttatcoder@outlook.jp>

chore(behavior_velocity): unite variables

c42f858

Signed-off-by: taikitanaka <ttatcoder@outlook.jp>

feat(behavior_velocity): apply concept of partition

54144a5

Signed-off-by: taikitanaka <ttatcoder@outlook.jp>

chore(behavior_velocity): change partition marker color

c17a58c

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

doc(behavior_velocity): update doc

3b7784d

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

chore(behavior_velocity): to default setting

465808c

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

yukkysaito previously approved these changes Mar 10, 2022

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taikitanaka3 dismissed yukkysaito’s stale review via 465808c March 10, 2022 14:47

taikitanaka3 force-pushed the 258-feat-occlusion-spot-add-partition branch from 3909520 to 465808c Compare March 10, 2022 14:47

taikitanaka3 requested a review from yukkysaito March 10, 2022 14:55

taikitanaka3 enabled auto-merge (squash) March 10, 2022 15:19

yukkysaito approved these changes Mar 10, 2022

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taikitanaka3 merged commit 1d36fae into autowarefoundation:main Mar 10, 2022

tier4-autoware-public-bot bot mentioned this pull request Mar 11, 2022

chore: sync upstream tier4/autoware.universe#20

Merged

taikitanaka3 deleted the 258-feat-occlusion-spot-add-partition branch March 11, 2022 02:02

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

Merge pull request autowarefoundation#482 from tier4/sync-main-for-de…

37204d1

…velop sync main for develop

keiota pushed a commit to keiota/autoware.universe that referenced this pull request Aug 17, 2023

feat(path_smoother): add parameters for the replan checker (autowaref…

4ee5cc8

…oundation#482) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

kyoichi-sugahara pushed a commit that referenced this pull request Sep 16, 2023

ci(sync-files): fix relative links (#482)

d520d87

* ci(sync-files): fix relative links Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * use string mode Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

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feat(behavior_velocity): occlusion spot add partition lanelet #482

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