feat: output avoidance debug array whenever the avoidance module is enabled #835

tkimura4 · 2022-04-28T11:57:10Z

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

Description

In the current implementaion, the avoidance debug array is not published when avoidance is not executed such the following case.

I change it to output avoidance debug array whenever the avoidance module is enabled.

I also changed to publish the avoidance debug array only at the end of calcAvoidancePlanningData.

Tests performed

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tkimura4 · 2022-04-28T12:02:24Z

Test:

codecov · 2022-04-28T12:13:37Z

Codecov Report

Merging #835 (6153dff) into main (e8e0042) will decrease coverage by 0.10%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #835      +/-   ##
========================================
- Coverage   9.58%   9.48%   -0.11%     
========================================
  Files        925     925              
  Lines      57411   58022     +611     
  Branches    6863    6863              
========================================
  Hits        5502    5502              
- Misses     47384   47995     +611     
  Partials    4525    4525

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`9.58% <0.00%> (ø)`		Carriedforward from e8e0042

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

Impacted Files	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	`0.00% <ø> (ø)`
...ehavior_path_planner/src/behavior_tree_manager.cpp	`0.00% <0.00%> (ø)`
...er/src/scene_module/avoidance/avoidance_module.cpp	`0.00% <0.00%> (ø)`

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TakaHoribe · 2022-04-28T12:53:08Z

@zulfaqar-azmi-t4 Could you take a test and review?

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

taikitanaka3

LGTM

multiple object case

zulfaqar-azmi-t4 · 2022-05-08T05:01:35Z

@tkimura4
Thank you very much kimura-san for fixing this part.

I've conducted the test with approval turned on as default and no approval as default.

For approval turned on as default:

Note from video below:

With single and multiple object case, it works great.

The details from calcAvoidanceTargetObjects and calcRawShiftPointsFromObjects are successfully logged.

video2.mp4

For no approval as default

From the observation, the seems to be able to capture details from calcAvoidanceTargetObjects well. On the other hand, details from calcRawShiftPointsFromObjects seems to be a bit off.

video1.mp4

video3.mp4

…nabled (#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…nabled (autowarefoundation#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix: behavior path multi thread Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * add mutex unlock Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat(behavior_path_planner): debug messages for failed avoidance (#694) * feat(behavior_path_planner): debug message for avoidance Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: make_shared for the pointers Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: pre-commit Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: remove related DEBUG_PRINT Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: naming, add debug to the variable name This is so that people can infer mutable to debug, therefore reducing the amount of time for debugging other things Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: object id is written as string instead of uint8x16 Also fix getUuidStr function to reflect the actual hex value. the function is moved to avoidance_util as it better served as helper function. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: fix spelling Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: display all 32 uuid characters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * chore: remove unnecessary header Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat: support more debug message Note: need further refactoring, due to multiple similar code, plus duplicate printing. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix mutiplication by introducing global variables Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * header stamp to get the clock Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: renaming the type to show clearer intent of the type Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix(behavior_path_planner): getAvoidanceDebugMsgArray caused crash (#828) this is due to the assignment to pointer without guards in the function Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat: output avoidance debug array whenever the avoidance module is enabled (#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: behavior path avoidance debug Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>

…nabled (tier4#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

tkimura4 requested review from TakaHoribe, taikitanaka3 and zulfaqar-azmi-t4 April 28, 2022 11:57

feat: output avoidance debug array whenever the avoidance module is e…

6153dff

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

wep21 force-pushed the feat/avoidance_debug branch from e02380a to 6153dff Compare May 1, 2022 07:35

taikitanaka3 approved these changes May 6, 2022

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tkimura4 merged commit 27919a8 into autowarefoundation:main May 9, 2022

tkimura4 deleted the feat/avoidance_debug branch May 9, 2022 01:25

tier4-autoware-public-bot bot mentioned this pull request May 9, 2022

chore: sync upstream tier4/autoware.universe#43

Merged

TakaHoribe referenced this pull request in tier4/autoware.universe May 18, 2022

feat: output avoidance debug array whenever the avoidance module is e…

af26301

…nabled (#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

tkimura4 referenced this pull request in tier4/autoware.universe Jun 8, 2022

feat: output avoidance debug array whenever the avoidance module is e…

9279657

…nabled (#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

tkimura4 mentioned this pull request Jun 8, 2022

feat(behavior_path_planner): add avoidance debug tier4/autoware.universe#60

Merged

7 tasks

tkimura4 referenced this pull request in tier4/autoware.universe Jun 8, 2022

feat: output avoidance debug array whenever the avoidance module is e…

71fa478

…nabled (#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

tkimura4 added a commit to tkimura4/autoware.universe that referenced this pull request Jun 16, 2022

feat: output avoidance debug array whenever the avoidance module is e…

267c6b2

…nabled (autowarefoundation#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022

feat: output avoidance debug array whenever the avoidance module is e…

b4b7071

…nabled (tier4#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022

feat: output avoidance debug array whenever the avoidance module is e…

cba6e9a

…nabled (tier4#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022

feat: output avoidance debug array whenever the avoidance module is e…

5ae7493

…nabled (tier4#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022

feat: output avoidance debug array whenever the avoidance module is e…

1126de4

…nabled (tier4#835) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025

refactor(map_tf_generator): rework parameters (autowarefoundation#835)

4357093

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

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feat: output avoidance debug array whenever the avoidance module is enabled #835

feat: output avoidance debug array whenever the avoidance module is enabled #835

tkimura4 commented Apr 28, 2022 •

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feat: output avoidance debug array whenever the avoidance module is enabled #835

feat: output avoidance debug array whenever the avoidance module is enabled #835

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tkimura4 commented Apr 28, 2022 • edited Loading

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zulfaqar-azmi-t4 commented May 8, 2022 • edited Loading

For approval turned on as default:

For no approval as default

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