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feat(behavior_path): use multi thread #657

Merged
merged 9 commits into from
Apr 28, 2022
Merged

feat(behavior_path): use multi thread #657

merged 9 commits into from
Apr 28, 2022

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tkimura4
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@tkimura4 tkimura4 commented Apr 8, 2022 •
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Signed-off-by: tomoya.kimura tomoya.kimura@tier4.jp

Description

To solve #275 in behavior path planner, multi thread is used for callbacks by passing a different callback group, whose type is MutuallyExclusive, to each calback.

Related links

#275
#260

Tests performed

Notes for reviewers

Run simple psim, and see if each callback of subscribes is called in a steady cycle.

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Codecov Report

Merging #657 (a949aac) into main (5ab1962) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #657      +/-   ##
========================================
- Coverage   9.54%   9.50%   -0.04%     
========================================
  Files        921     921              
  Lines      57273   57467     +194     
  Branches    6830    6830              
========================================
  Hits        5465    5465              
- Misses     47306   47500     +194     
  Partials    4502    4502
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 9.54% <0.00%> (ø) Carriedforward from ba80015

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
...th_planner/scene_module/scene_module_interface.hpp 0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp 0.00% <0.00%> (ø)

Continue to review full report at Codecov.

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13304490790 pushed a commit to 13304490790/autoware.universe that referenced this pull request Apr 12, 2022
@1222-takeshi @mitsudome-r
@harihitode @kenji-miyake @nnmm @jilaada @nik-tier4 @esteve @k0suke-murakami @wep21 @YamatoAndo @taikitanaka3 @TakaHoribe @tkimura4 @isamu-takagi @kmiya @vios-fish @adamdbrw @h-ohta @IshitaTakeshi @kminoda @tier4-autoware-private-bot @KeisukeShima @kyoichi-sugahara @RyuYamamoto
feat: add twist_estimator packages (autowarefoundation#57)
d6327b4 
* release v0.4.0

* Avoid setting CMAKE_BUILD_TYPE=Release in each CMakeLists.txt (autowarefoundation#720)

* remove set CMAKE_BUILD_TYPE Release in each CMakeLists.txt

* remove set CMAKE_BUILD_TYPE Release in ndt_pcl_modified

* set compile options for debug in ndt_omp

* Fix indent

* add warning if -DCMAKE_BUILD_TYPE=Release is not set in ndt_omp

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "remove ROS1 packages temporarily"

This reverts commit 2ba159d0875d817ae73a0df4ba12c4660c86acfe.

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: gyro_odometer (autowarefoundation#39)

* Make compile
 - Fix cmake and package.xml
 - Update tf and msgs

* Add publishers, subscribers and loggers
 - Fix launch file and Cmake to generate executable

* Address PR comments:
 - Remove launch file xml line (not needed)
 - Convert Buffer and TransformListener to plain objects
 - Fix some typos

* ported pose2twist from ROS1 to ROS2 (autowarefoundation#19)

* ported pose2twist from ROS1 to ROS2

* Update CMakeLists.txt

updated CMakeLists to be consise using ament_auto

* Update pose2twist_core.cpp

updated the ~Pose2Twist() = default in header

* Update package.xml

sorted dependencies alphabetically

* Update pose2twist_core.h

added  
  ~Pose2Twist() = default;

* Update pose2twist_core.h

Include guards replaced

* edited pose2twist launch file to ROS2

* fixed package XML

* Add geometry2 to repos (autowarefoundation#76)

* add geometry2 package temporarily until new release

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* trigger-ci

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add tf2 dependency to the packages that use tf2_geometry_msgs

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "Add geometry2 to repos (autowarefoundation#76)" (autowarefoundation#96)

* Revert "Add geometry2 to repos (autowarefoundation#76)"

This reverts commit 2e5ba3e86d0597920c0adf23f066521ea8a1a5b6.

* Re-add tf2 dependencies

* Revert "Re-add tf2 dependencies"

This reverts commit e23b0c8b0826cf9518924d33349f9de34b4975df.

* Debug CI pipeline

* Revert "Debug CI pipeline"

This reverts commit 58f1eba550360d82c08230552abfb64b33b23e0f.

* Explicitly install known versions of the geometry packages

* No need to skip tf2 packages anymore

Co-authored-by: Esteve Fernandez <esteve@apache.org>

* Rename h files to hpp (autowarefoundation#142)

* Change includes

* Rename files

* Adjustments to make things compile

* Other packages

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* Use quotes for includes where appropriate (autowarefoundation#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

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* Run uncrustify on the entire Pilot.Auto codebase

* Exclude open PRs

* adding linters to pose2twist (autowarefoundation#193)

* adding linters to gyro_odometer (autowarefoundation#192)

* apply env_var to  use_sim_time (autowarefoundation#222)

* Fix dt in pose2twist (autowarefoundation#289)

* fix dt

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* fix covariance (autowarefoundation#875) (autowarefoundation#267)

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* rm_std_msgs (autowarefoundation#402)

* Fix rolling build errors (autowarefoundation#1225)

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* Replace rclcpp::Duration

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* Use from_seconds

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* Fix lint traffic_light_classifier

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* Fix lint traffic_light_ssd_fine_detector

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* Fix issues in hdd_reader (autowarefoundation#466)

* Fix some issues detected by Coverity Scan and Clang-Tidy

* Update launch command

* Add more `close(new_sock)`

* Simplify the definitions of struct

* fix: re-construct laneletMapLayer for reindex RTree (autowarefoundation#463)

* Rviz overlay render fix (autowarefoundation#461)

* Moved painiting in SteeringAngle plugin to update()

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* super class now back to MFD

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* uncrustified

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* acquire data in mutex

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* removed unnecessary includes and some dead code

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* Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass

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* restored RTD superclass

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Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
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* Fix for rolling (autowarefoundation#1226)

* Replace doc by description

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* Replace ns by push-ros-namespace

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

* Unify Apache-2.0 license name (autowarefoundation#1242)

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Feature/gyro odometer add twist with cov input (autowarefoundation#1586)

* add description for gyro_odometer package autowarefoundation#1819

* 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>

* Invoke code formatter at pre-commit (autowarefoundation#1935)

* Run ament_uncrustify at pre-commit

* Reformat existing files
* Fix copyright and cpplint errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Feature/add stop filter ros2 (autowarefoundation#1575)

* revert imu yaw bias (autowarefoundation#2040) (autowarefoundation#2043)

Co-authored-by: YamatoAndo <yamato.ando@gmail.com>

* 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

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* Fix for cpplint

* Fix include double quotes to angle brackets

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* Apply clang-format

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* 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>

* Remove COLCON_IGNORE under localization (autowarefoundation#553)

* [gyro_odometer]add readme (autowarefoundation#625)

* add readme

* update

* update

* Update localization/twist_estimator/gyro_odometer/README.md

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* add discription

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Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* add readme in pose2twist (autowarefoundation#662)

* add readme

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* Update localization/twist_estimator/pose2twist/src/README.md

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* fix readme (autowarefoundation#669)

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* convert VehicleReport to Twist msgs (autowarefoundation#657)

* add vehicle velocity converter package

* clang format

* add README

* add heading_rate value

* remove twist msg

* clang format

* set covariance value

* fixed bug

* [gyro_odometer] remove input twist (autowarefoundation#706)

* remove input twist

* update README

* fix: move README.md directory

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
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tkimura4 added 6 commits April 26, 2022 15:14
@tkimura4
feat(behavior_path): use multi thread
6aba06c 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4
fix mutex
471dd9b 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4
fix double unlock of mutex
7c4df81 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4
fix multi access to planner_data_
84e5ddc 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4
rename mutex
9ecea85 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4
apply mutex to bt_manager_
e4b82a3 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4 tkimura4 force-pushed the feature/multi-thread-behavior-path branch from e12262a to e4b82a3 Compare April 26, 2022 06:16
@tkimura4 tkimura4 marked this pull request as ready for review April 26, 2022 06:16
@tkimura4 tkimura4 requested a review from TakaHoribe April 26, 2022 06:16
yukkysaito
yukkysaito previously approved these changes Apr 27, 2022
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TakaHoribe
TakaHoribe previously approved these changes Apr 27, 2022
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It worked fine in psim and the code LGTM too.

@tkimura4
Merge remote-tracking branch 'origin/main' into feature/multi-thread-…
ba80015 
…behavior-path

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4 tkimura4 dismissed stale reviews from TakaHoribe and yukkysaito via ba80015 April 28, 2022 08:06
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I've resolved the conflict with main, so please re-approve

takayuki5168
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LGTM

@tkimura4 tkimura4 merged commit 827ff26 into autowarefoundation:main Apr 28, 2022
@tkimura4 tkimura4 deleted the feature/multi-thread-behavior-path branch April 28, 2022 09:19
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Apr 29, 2022
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@tkimura4 tkimura4 mentioned this pull request May 10, 2022
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kosuke55 pushed a commit to kosuke55/autoware.universe that referenced this pull request May 20, 2022
@tkimura4 @pre-commit-ci @kosuke55
feat(behavior_path): use multi thread (autowarefoundation#657)
3fed2e9 
* feat(behavior_path): use multi thread

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix double unlock of mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix multi access to planner_data_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* rename mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* apply mutex to bt_manager_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@tkimura4 tkimura4 mentioned this pull request Jun 6, 2022
Merged
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boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@tkimura4 @pre-commit-ci @boyali
feat(behavior_path): use multi thread (tier4#657)
99f8b26 
* feat(behavior_path): use multi thread

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix double unlock of mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix multi access to planner_data_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* rename mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* apply mutex to bt_manager_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@tkimura4 @pre-commit-ci @boyali
feat(behavior_path): use multi thread (tier4#657)
994e467 
* feat(behavior_path): use multi thread

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix double unlock of mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix multi access to planner_data_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* rename mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* apply mutex to bt_manager_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* ci(pre-commit): autofix

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boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@tkimura4 @pre-commit-ci @boyali
feat(behavior_path): use multi thread (tier4#657)
4833186 
* feat(behavior_path): use multi thread

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix double unlock of mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix multi access to planner_data_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* rename mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* apply mutex to bt_manager_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@tkimura4 @pre-commit-ci @boyali
feat(behavior_path): use multi thread (tier4#657)
8752b37 
* feat(behavior_path): use multi thread

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix double unlock of mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix multi access to planner_data_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* rename mutex

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* apply mutex to bt_manager_

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
soblin pushed a commit to soblin/autoware.universe that referenced this pull request Jul 25, 2023
@rej55
fix(behavior_path_planner): fix execution request condition (autoware…
17906c3 
…foundation#657)

* Revert "fix(behavior_path_planner): insert stop point in root reference path (autowarefoundation#653)"

This reverts commit 9350e87.

* fix(behavior_path_planner): fix execution request condition

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
ryuichi-maeda pushed a commit to sensefield/autoware.universe that referenced this pull request Jan 10, 2025
@miursh @TakaHoribe
@tier4-autoware-private-bot @ktro2828
fix: use custom build for webauto-ci (autowarefoundation#666)
4d1e638 
* Update repos files

* Create .beta.repos and freeze repos files)

* chore: update beta branch for beta/v0.13.0 (autowarefoundation#657)

Update repos files

Co-authored-by: GitHub Actions <actions@example.com>

* fix(simulator.repos): use p/c branch for scenario_simulator (autowarefoundation#658)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix: perception pre-task in webauto-ci.yaml (autowarefoundation#659)

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* fix: download model files by ansible (autowarefoundation#662)

* fix: update awf ansible hash

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* update ansible command

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

---------

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* build: update custom build spec

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

# Conflicts:
#	.webauto-ci.yml

* add data_dir

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* change to force download artifacts

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* chore: update beta branch for beta/v0.13.0 (autowarefoundation#664)

Update repos files

Co-authored-by: GitHub Actions <actions@example.com>

* fix: update to install libraries with pip

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

* style(pre-commit): autofix

* revert beta branch related commit

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* fix merge mistake

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* Update .webauto-ci/main/autoware-build/run.sh

Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com>

* Update .webauto-ci/main/environment-setup/run.sh

Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com>

* style(pre-commit): autofix

---------

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: tier4-autoware-private-bot[bot] <87871706+tier4-autoware-private-bot[bot]@users.noreply.github.com>
Co-authored-by: GitHub Actions <actions@example.com>
Co-authored-by: ktro2828 <kotaro.uetake@tier4.jp>
Co-authored-by: miursh <miursh@users.noreply.github.com>
Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com>
iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025
@1222-takeshi
feat(AEB): implement parameterized prediction time horizon and interv…
99281f1 
…al (autowarefoundation#657)

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>
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@takayuki5168 takayuki5168 takayuki5168 approved these changes

@TakaHoribe TakaHoribe TakaHoribe left review comments

@yukkysaito yukkysaito yukkysaito left review comments

@taikitanaka3 taikitanaka3 Awaiting requested review from taikitanaka3

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@tkimura4 @yukkysaito @takayuki5168 @TakaHoribe