feat: update lane change (v0.7.0) #255
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…owarefoundation#2575) Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>
…erk and lateral acceleration (autowarefoundation#2428) * [lane_change] update path generation to handle lateral acceleration limit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused code Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused code & fix precommit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update doc Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update docs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update doc Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update doc Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update doc Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move path_shifter implementation to cpp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/behavior_path_planner/src/scene_module/utils/path_shifter.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/behavior_path_planner_path_generation.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * update doc link Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update doc Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused code Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add common min distance computation Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rearrange config and rework min distance Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * revert some changes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove warning Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/behavior_path_planner_path_generation.md Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Update planning/behavior_path_planner/behavior_path_planner_path_generation.md Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * fix spell check Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
…dation#2359) * feat(behavior_path_planner): abort lane change function Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * change Revert -> Cancel Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Remove some unwanted functions and and STOP state Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update steering factor (accidentally removed) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * include is_abort_condition_satisfied_ flag Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * use only check ego in current lane Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Revert "use only check ego in current lane" This reverts commit 4f97408. * ci(pre-commit): autofix * use only check ego in current lane Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * improve isAbortConditionSatisfied by using ego polygon check Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add lateral jerk and path doesn't keep on updating anymore Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * parameterized all abort related values Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename abort_end -> abort_return Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix some parameter issue Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * check if lane change distance is enough after abort Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * improve the code flow of isAbortConditionSatisfied Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Place warning message in corresponding states. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix clock and rebase Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove accel and jerk parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove unnecessary parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix param file in config Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/src/scene_module/lane_change/util.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove isStopState and refactoring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Fixed CANCEL when ego is out of lane Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix path reset during abort Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix abort path exceed goal Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix logger to debug Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
…towarefoundation#2599) * feat(behavior path planner): lane change cancel/abort docs update Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update parameters and it's config (yaml) file Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…utowarefoundation#2615) * fix(lane_change): use current lane for num to preferred lane input Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix lane change distance from deadend Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Make separate function to compute resampling interval Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Change default config Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Make phase info data structure Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Added error for finish judge buffer Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Fix rebase Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * ci(pre-commit): autofix * warn user of the modified values Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…utowarefoundation#2645) * fix(behavior_path_planner): lane change turn signal during approval Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * some refactoring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
… change (autowarefoundation#2693) * fix(behavior_path_planner): improve isPathInLanelet function for lane change Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * simplify the functions Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…ndation#2517) * feat(rtc_aut_mode_manager)!: add auto mode status array Signed-off-by: taikitanaka3 <ttatcoder@outlook.jp> * chore: planning/rtc_auto_mode_manager/src/rtc_auto_mode_manager_interface.cpp Signed-off-by: taikitanaka3 <ttatcoder@outlook.jp>
…undation#2442) * feature(behavior_path_planner): add external request lane change module Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feature(behavior_path_planner): fix for RTC Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feature(behavior_path_planner): fix decision logic Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feat(behavior_path_planner): fix behavior_path_planner_tree.xml Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feat(behavior_path_planner): fix for rebase Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feat(behavior_path_planner): output multiple candidate paths Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feat(behavior_path_planner): get path candidate in behavior tree manager Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feat(behavior_path_planner): fix for multiple candidate path Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feat(behavior_path_planner): separate external request lane change module Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feature(behavior_path_planner): add create publisher method Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feature(behavior_path_planner): move publishers to node Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feature(behavior_path_planner): remove unnecessary publisher Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feat(behavior_path_planner): move reset path candidate function to behavior tree manager Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feat(behavior_path_planner): add external request lane change path candidate publisher Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> feat(behavior_path_planner): apply abort lane change Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): remove unnecessary change Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feat(behavior_path_planner): fix getLaneChangePaths() Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feat(behavior_path_planner): disable external request lane change in default tree Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * Update rtc_auto_mode_manager.param.yaml * fix(route_handler): remove redundant code * fix(behavior_path_planner): fix for turn signal Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
github-actions
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added
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…oundation#2658) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…utowarefoundation#2727) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Codecov Report
Additional details and impacted files@@ Coverage Diff @@
## beta/v0.7.0 #255 +/- ##
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Coverage ? 10.57%
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Files ? 370
Lines ? 40443
Branches ? 16010
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Hits ? 4276
Misses ? 30145
Partials ? 6022
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…utowarefoundation#2726) * fix(behavior_path_planner): reduce obj indices call in lane change Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove unused functions Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add continue for the intersect in current * replace target and current lanes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * change isLaneChangePathSafe arguments Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>
…warefoundation#2720) fix(behavior_path_planner): enable lane change in intersection Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
…utowarefoundation#2704) * fix(behavior_path_planner): make lane change safety check adaptive Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Temporarily hard code use all predicted path Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Revert "Temporarily hard code use all predicted path" This reverts commit 8f92e45. * fix external lane change request Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> * use prediction resolution as rounding multiplier Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>
…ndation#2741) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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Description
Hotfix to beta/v0.7.0
lane change update
autowarefoundation#2575
autowarefoundation#2428
autowarefoundation#2359
autowarefoundation#2599
autowarefoundation#2615
autowarefoundation#2645
autowarefoundation#2693
autowarefoundation#2517
autowarefoundation#2442
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