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chore: sync upstream #617

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merged 23 commits into from
Jun 26, 2023
Merged

chore: sync upstream #617

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68cb41f
fix(points_preprocessor): single input topic should be first element …
Timple Jun 23, 2023
f68374b
feat(avoidance): improve avoidance judgement logic for pedestrian & b…
satoshi-ota Jun 23, 2023
cdab0e6
refactor(occpuancy grid map): move param to yaml (#4038)
soblin Jun 23, 2023
75eecc7
feat(behavior_path_planner): use new framework (#4051)
satoshi-ota Jun 23, 2023
99ec28b
feat(dynamic_avoidance): apply LPF to shift length, and positive rela…
takayuki5168 Jun 23, 2023
deffac2
refactor(crosswalk): minor refactoring (#4046)
takayuki5168 Jun 23, 2023
385ef5b
feat(behavior_velocity_traffic_light_module): print not found traffic…
takayuki5168 Jun 23, 2023
7c77bbd
fix(behavior_path_planner): print avoidance and lane change debug mes…
zulfaqar-azmi-t4 Jun 23, 2023
a0a0b1a
feat(dynamic_avoidance): suppress flickering of dynamic avoidance lau…
takayuki5168 Jun 23, 2023
7029473
fix(avoidance): update logic to keep waiting approval (#4059)
satoshi-ota Jun 23, 2023
25f9d6a
fix(lane_change): fix debug visualization now showing (#4061)
zulfaqar-azmi-t4 Jun 23, 2023
e70df12
feat(dynamic_avoidance): ignore cut-out vehicle (#4049)
takayuki5168 Jun 23, 2023
4ee6975
feat(mission_planner): add mrm route planner (#4027)
purewater0901 Jun 23, 2023
4bc5ccc
revert: "feat(behavior_path_planner): relax longitudinal_velocity_del…
shmpwk Jun 23, 2023
87f9b86
fix(start_planner): not run other modules when back pull out (#4043)
kosuke55 Jun 23, 2023
79024d3
docs(default_ad_api): fix link in default_ad_api (#4067)
Shin-kyoto Jun 23, 2023
1b9232f
feat(behavior_path_planner): add turn signal debug marker (#4066)
purewater0901 Jun 23, 2023
6c6973b
build: fix opencv dependency (#3987)
esteve Jun 23, 2023
edcad42
perf(voxel_grid_downsample_filter): performance tuning (#3679)
atsushi421 Jun 23, 2023
7b6bff2
feat(obstacle_cruise_planner): change cruise color to orange (#4065)
shmpwk Jun 24, 2023
40f9311
refactor(lane_change): use common logger (#4072)
TakaHoribe Jun 25, 2023
e9d4e9f
fix(crosswalk): return if the stop point with factor is boost::none (…
satoshi-ota Jun 26, 2023
a3c6ea2
feat(avoidance): set additional buffer margin independently (#4041)
satoshi-ota Jun 26, 2023
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refactor(lane_change): use common logger (autowarefoundation#4072) 
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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@TakaHoribe
TakaHoribe authored Jun 25, 2023
commit 40f931129ebbcbb9c63788ea53816c12e18ad2fd
2 changes: 2 additions & 0 deletions ...g/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,8 @@ class NormalLaneChange : public LaneChangeBase
TurnSignalInfo calcTurnSignalInfo() override;

bool isValidPath(const PathWithLaneId & path) const override;

rclcpp::Logger logger_ = rclcpp::get_logger("lane_change").get_child(getModuleTypeStr());
};

class NormalLaneChangeBT : public NormalLaneChange
Expand Down
55 changes: 14 additions & 41 deletions planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -561,19 +561,15 @@ bool NormalLaneChange::getLaneChangePaths(
minimum_prepare_length);

if (prepare_length < target_length) {
RCLCPP_DEBUG(
rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()),
"prepare length is shorter than distance to target lane!!");
RCLCPP_DEBUG(logger_, "prepare length is shorter than distance to target lane!!");
break;
}

auto prepare_segment = getPrepareSegment(
original_lanelets, arc_position_from_current.length, backward_path_length, prepare_length);

if (prepare_segment.points.empty()) {
RCLCPP_DEBUG(
rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()),
"prepare segment is empty!!");
RCLCPP_DEBUG(logger_, "prepare segment is empty!!");
continue;
}

Expand All @@ -587,8 +583,7 @@ bool NormalLaneChange::getLaneChangePaths(
// that case, the lane change shouldn't be executed.
if (target_length_from_lane_change_start_pose > 0.0) {
RCLCPP_DEBUG(
rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()),
"[only new arch] lane change start getEgoPose() is behind target lanelet!!");
logger_, "[only new arch] lane change start getEgoPose() is behind target lanelet!!");
break;
}

Expand Down Expand Up @@ -621,9 +616,7 @@ bool NormalLaneChange::getLaneChangePaths(
prepare_segment, current_velocity, terminal_lane_changing_velocity);

if (lane_changing_length + prepare_length > dist_to_end_of_current_lanes) {
RCLCPP_DEBUG(
rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()),
"length of lane changing path is longer than length to goal!!");
RCLCPP_DEBUG(logger_, "length of lane changing path is longer than length to goal!!");
continue;
}

Expand All @@ -636,9 +629,7 @@ bool NormalLaneChange::getLaneChangePaths(
s_start + lane_changing_length + common_parameter.lane_change_finish_judge_buffer +
next_lane_change_buffer >
s_goal) {
RCLCPP_DEBUG(
rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"),
"length of lane changing path is longer than length to goal!!");
RCLCPP_DEBUG(logger_, "length of lane changing path is longer than length to goal!!");
continue;
}
}
Expand All @@ -649,9 +640,7 @@ bool NormalLaneChange::getLaneChangePaths(
next_lane_change_buffer);

if (target_segment.points.empty()) {
RCLCPP_DEBUG(
rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"),
"target segment is empty!! something wrong...");
RCLCPP_DEBUG(logger_, "target segment is empty!! something wrong...");
continue;
}

Expand All @@ -673,9 +662,7 @@ bool NormalLaneChange::getLaneChangePaths(
next_lane_change_buffer);

if (target_lane_reference_path.points.empty()) {
RCLCPP_DEBUG(
rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"),
"target_lane_reference_path is empty!!");
RCLCPP_DEBUG(logger_, "target_lane_reference_path is empty!!");
continue;
}

Expand All @@ -693,9 +680,7 @@ bool NormalLaneChange::getLaneChangePaths(
lc_velocity, terminal_lane_changing_velocity, lc_time);

if (!candidate_path) {
RCLCPP_DEBUG(
rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"),
"no candidate path!!");
RCLCPP_DEBUG(logger_, "no candidate path!!");
continue;
}

Expand All @@ -704,9 +689,7 @@ bool NormalLaneChange::getLaneChangePaths(
minimum_lane_changing_velocity, common_parameter, direction);

if (!is_valid) {
RCLCPP_DEBUG(
rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"),
"invalid candidate path!!");
RCLCPP_DEBUG(logger_, "invalid candidate path!!");
continue;
}

Expand Down Expand Up @@ -927,18 +910,14 @@ bool NormalLaneChange::getAbortPath()
lane_change_parameters_->abort_delta_time + lane_change_parameters_->aborting_time);

if (abort_start_idx >= abort_return_idx) {
RCLCPP_ERROR_STREAM(
rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()),
"abort start idx and return idx is equal. can't compute abort path.");
RCLCPP_ERROR(logger_, "abort start idx and return idx is equal. can't compute abort path.");
return false;
}

if (!utils::lane_change::hasEnoughLengthToLaneChangeAfterAbort(
*route_handler, reference_lanelets, current_pose, abort_return_dist, common_param,
direction)) {
RCLCPP_ERROR_STREAM(
rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()),
"insufficient distance to abort.");
RCLCPP_ERROR(logger_, "insufficient distance to abort.");
return false;
}

Expand All @@ -965,19 +944,15 @@ bool NormalLaneChange::getAbortPath()
path_shifter.setLateralAccelerationLimit(max_lateral_acc);

if (lateral_jerk > lane_change_parameters_->abort_max_lateral_jerk) {
RCLCPP_ERROR_STREAM(
rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()),
"Aborting jerk is too strong. lateral_jerk = " << lateral_jerk);
RCLCPP_ERROR(logger_, "Aborting jerk is too strong. lateral_jerk = %f", lateral_jerk);
return false;
}

ShiftedPath shifted_path;
// offset front side
// bool offset_back = false;
if (!path_shifter.generate(&shifted_path)) {
RCLCPP_ERROR_STREAM(
rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()),
"failed to generate abort shifted path.");
RCLCPP_ERROR(logger_, "failed to generate abort shifted path.");
}

const auto arc_position = lanelet::utils::getArcCoordinates(
Expand Down Expand Up @@ -1094,9 +1069,7 @@ PathWithLaneId NormalLaneChangeBT::getPrepareSegment(
const double s_start = arc_length_from_current - backward_path_length;
const double s_end = arc_length_from_current + prepare_length;

RCLCPP_DEBUG(
rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()).get_child("getPrepareSegment"),
"start: %f, end: %f", s_start, s_end);
RCLCPP_DEBUG(logger_, "start: %f, end: %f", s_start, s_end);

PathWithLaneId prepare_segment =
getRouteHandler()->getCenterLinePath(current_lanes, s_start, s_end);
Expand Down