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feat(obstacle_avoidance_planner): fix optimization at end of trajectory #309

Merged
merged 10 commits into from
Mar 14, 2023
Merged

feat(obstacle_avoidance_planner): fix optimization at end of trajectory #309

merged 10 commits into from
Mar 14, 2023

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mkuri
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@mkuri mkuri commented Mar 9, 2023 •
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Description

Pre-review checklist for the PR author

Add refactoring of the obstacle avoidance planner to fix a vehicle pose problem when arriving at bus stops.

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In-review checklist for the PR reviewers

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Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.

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purewater0901 and others added 7 commits February 27, 2023 07:02
@purewater0901 @mkuri
feat(behavior_path_planner, obstacle_avoidance_planner): add new driv…
57661cc 
…able area (autowarefoundation#2472)

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update obstacle avoidance planner

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* clean code

Signed-off-by: yutaka <purewater0901@gmail.com>

* uddate

Signed-off-by: yutaka <purewater0901@gmail.com>

* clean code

Signed-off-by: yutaka <purewater0901@gmail.com>

* remove resample

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* add orientation

Signed-off-by: yutaka <purewater0901@gmail.com>

* change color

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* remove drivable area

Signed-off-by: yutaka <purewater0901@gmail.com>

* add flag

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update color

Signed-off-by: yutaka <purewater0901@gmail.com>

* fix some codes

Signed-off-by: yutaka <purewater0901@gmail.com>

* change to makerker array

Signed-off-by: yutaka <purewater0901@gmail.com>

* change avoidance utils

Signed-off-by: yutaka <purewater0901@gmail.com>

Signed-off-by: yutaka <purewater0901@gmail.com>
@purewater0901 @mkuri
feat(motion_utils): add points resample function (autowarefoundation#…
0bf8468 
…2465)

Signed-off-by: yutaka <purewater0901@gmail.com>

Signed-off-by: yutaka <purewater0901@gmail.com>
@purewater0901 @mkuri
fix(motion_utils): rename sampling function (autowarefoundation#2469)
f006b54 
Signed-off-by: yutaka <purewater0901@gmail.com>

Signed-off-by: yutaka <purewater0901@gmail.com>
@mkuri
fix(behavior_path_planner): fix a merge failure
cdad633 
Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
@takayuki5168 @mkuri
feat(interpolation): add curvature calculation (autowarefoundation#2801)
86ae796 
* feat(interpolation): add curvature calculation

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add test

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@takayuki5168 @mkuri
update obstacle avoidance planner, static centerline optimizer, tier4…
2a814e8 
…_planning_launch

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@takayuki5168 @mkuri
update velocity on joint and correct trajectory z
33e7ac6 
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@github-actions github-actions bot added common documentation Improvements or additions to documentation launch planning labels Mar 9, 2023
@TakaHoribe TakaHoribe removed their request for review March 9, 2023 04:03
@mkuri mkuri mentioned this pull request Mar 14, 2023
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@mkuri mkuri changed the title Experiment/fix optimization at end of trajectory feat(obstacle_avoidance_planner): fix optimization at end of trajectory Mar 14, 2023
@mkuri mkuri mentioned this pull request Mar 14, 2023
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@mkuri
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mkuri commented Mar 14, 2023

@takayuki5168
obstacle avoidance plannerのリファクタをX2のv2.1.0 (= universe v0.6.1)に入れる件です。
code ownerレビューをもらえると！
（drivable areaのrviz pluginも入れようと思いますが、conflictsあったので機能だけ入れてしまいます）

@TomohitoAndo
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I confirmed this works with Planning Simulator.
image
image
image

@mkuri mkuri merged commit ba6ff2d into beta/v0.6.1 Mar 14, 2023
@mkuri mkuri deleted the experiment/fix-optimization-at-end-of-trajectory branch March 14, 2023 11:23
@shmpwk
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shmpwk commented Mar 14, 2023 •
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@mkuri
3/17の半自動生成リリースノート説明会で申し上げる予定ですが，
今回のようなbeta/v0.6.1ブランチへのhotfixのmergeは，squashではなくmerge commitとしていただくことは可能でしょうか？
というのも，半自動生成リリースノートでは，beta/v0.6.1のコミット毎に生成されるためです．
現状の仕様ですと，squash mergeされた場合は１コミット分しか自動的に記載できないため，手動でリリースノートに記載していただくことになります．

@mkuri
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mkuri commented Mar 14, 2023 •
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@shmpwk
なるほどです。
mainへの複数commitを1つにまとめたPRはmerge commitするようにいたします。
revertはリリースノート的には大丈夫ですよね？

@mkuri
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mkuri commented Mar 15, 2023

@shmpwk
今回のこのPRはcreate a merge commitすると雑多なcommitも含まれそうなので手動で対応しようかなと思います。次からはリリースノート自動化の観点も考慮してhotfixのmergeをするようにいたします。

@shmpwk
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shmpwk commented Mar 15, 2023 •
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@mkuri
ありがとうございます。
revert問題ないです。その場合、squashコミットとrevertコミットがリリースノートに記載されますが、スプレッドシート上でフィルタリングして除外できます。

雑多な時コミットが挟まった場合は、手動で記載した方が楽かもです。
（そのあたりも今週末に説明しますね。）

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@takayuki5168 takayuki5168 takayuki5168 approved these changes

@TomohitoAndo TomohitoAndo TomohitoAndo approved these changes

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@mkuri @TomohitoAndo @shmpwk @takayuki5168 @purewater0901