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feat(surround_obstacle_checker): integrate generate_parameter_library #8719

Merged
merged 8 commits into from
Sep 5, 2024
Merged

feat(surround_obstacle_checker): integrate generate_parameter_library #8719

merged 8 commits into from
Sep 5, 2024

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mitukou1109
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@mitukou1109 mitukou1109 commented Sep 3, 2024 •
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Description

This PR enables surround_obstacle_checker to handle parameters using generate_parameter_library.

How was this PR tested?

Psim

  • changes in rqt reconfigure are reflected to the behavior of the node
  • errors occur if any parameters are missing in the config file in autoware_launch
Screencast.from.2024.09.03.11.49.01.webm

Evaluator: https://evaluation.tier4.jp/evaluation/reports/36978351-88c5-59df-967f-03ff39440cae?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Sep 3, 2024
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github-actions bot commented Sep 3, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

satoshi-ota
satoshi-ota reviewed Sep 3, 2024
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...ning/autoware_surround_obstacle_checker/param/surround_obstacle_checker_node_parameters.yaml
@@ -0,0 +1,67 @@
surround_obstacle_checker_node:
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@mitukou1109 Is it possible to create this yaml file under config dir...?

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Isn't it confusing if it is in the same directory as the original parameter file? The file is just for code generation.

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🤔 OK. Let's use param dir for now.

satoshi-ota
satoshi-ota reviewed Sep 3, 2024
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planning/autoware_surround_obstacle_checker/src/node.hpp
private:
rcl_interfaces::msg::SetParametersResult onParam(
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Where is the alternative function of onParam...? Or, the pickNik lib can automatically update the value?

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ParamListener adds a callback for each parameter internally and thus we don't have to care about updating its value, but we still need to call get_params() to acquire the latest values as done here.

satoshi-ota
satoshi-ota reviewed Sep 3, 2024
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...ning/autoware_surround_obstacle_checker/param/surround_obstacle_checker_node_parameters.yaml Outdated
pointcloud:
enable_check:
type: bool
default_value: false
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@mitukou1109 please remove default value.

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Fixed: fb362a9

@satoshi-ota satoshi-ota marked this pull request as ready for review September 3, 2024 08:02
@satoshi-ota satoshi-ota added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Sep 3, 2024
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codecov bot commented Sep 3, 2024 •
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Codecov Report

Attention: Patch coverage is 0% with 40 lines in your changes missing coverage. Please review.

Project coverage is 24.13%. Comparing base (1ae6082) to head (4965b5c).
Report is 7 commits behind head on main.

Files with missing lines Patch % Lines
...ng/autoware_surround_obstacle_checker/src/node.cpp 0.00% 40 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #8719      +/-   ##
==========================================
- Coverage   24.13%   24.13%   -0.01%     
==========================================
  Files        1407     1407              
  Lines      102317   102315       -2     
  Branches    38830    38830              
==========================================
- Hits        24699    24693       -6     
- Misses      75045    75048       +3     
- Partials     2573     2574       +1
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 24.14% <ø> (+<0.01%) ⬆️ Carriedforward from c48cf4f

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

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mitukou1109 and others added 7 commits September 5, 2024 09:12
@mitukou1109 @satoshi-ota
add generate_parameter_library to package
af2137e 
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
@mitukou1109 @satoshi-ota
add parameter file generator script
4aac609 
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
@mitukou1109 @satoshi-ota
use mapped parameters
81d7ff0 
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
@mitukou1109 @satoshi-ota
integrate generate_parameter_library
6bfd319 
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
@pre-commit-ci @satoshi-ota
style(pre-commit): autofix
36283dc
@mitukou1109 @satoshi-ota
check to use dynamic object
b820bd3 
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
@mitukou1109 @satoshi-ota
remove default values
c48cf4f 
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
@satoshi-ota satoshi-ota force-pushed the feat/integrate_generate_parameter_library branch from fb362a9 to c48cf4f Compare September 5, 2024 00:12
@mitukou1109
fix variable shadowing
4965b5c 
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
@satoshi-ota satoshi-ota enabled auto-merge (squash) September 5, 2024 06:57
satoshi-ota
satoshi-ota approved these changes Sep 5, 2024
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LGTM. Good job.

@satoshi-ota satoshi-ota merged commit 58c99fe into autowarefoundation:main Sep 5, 2024
25 checks passed
emuemuJP pushed a commit to arayabrain/autoware.universe.origin that referenced this pull request Sep 10, 2024
@mitukou1109 @pre-commit-ci @emuemuJP
feat(surround_obstacle_checker): integrate generate_parameter_library (…
bd083de 
…autowarefoundation#8719)

* add generate_parameter_library to package

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

* add parameter file generator script

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

* use mapped parameters

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

* integrate generate_parameter_library

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

* style(pre-commit): autofix

* check to use dynamic object

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

* remove default values

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

* fix variable shadowing

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

---------

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: emuemuJP <k.matsumoto.0807@gmail.com>
@mitukou1109 mitukou1109 deleted the feat/integrate_generate_parameter_library branch September 13, 2024 04:34
@mitukou1109 mitukou1109 mentioned this pull request Nov 7, 2024
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@satoshi-ota satoshi-ota satoshi-ota approved these changes

@go-sakayori go-sakayori Awaiting requested review from go-sakayori go-sakayori is a code owner

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