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free space planner may collide obstacles with vehicle front #662

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kosuke55 opened this issue Apr 10, 2022 · 7 comments · Fixed by #985
Closed
3 tasks done

free space planner may collide obstacles with vehicle front #662

kosuke55 opened this issue Apr 10, 2022 · 7 comments · Fixed by #985
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component:planning Route planning, decision-making, and navigation. (auto-assigned) type:bug Software flaws or errors.
Milestone
Bus ODD July-Aug ...

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@kosuke55
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Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I'm convinced that this is not my fault but a bug.

Description

I think that the following lines shorten the forward length of the vehicle and may cause a collision.

 for (double x = back; x <= front; x += costmap_.info.resolution) {
    for (double y = right; y <= left; y += costmap_.info.resolution) {

https://github.com/autowarefoundation/autoware.universe/blob/main/planning/freespace_planning_algorithms/src/abstract_algorithm.cpp#L135-L136

It's better to guarantee that x(y) exceeds font(left) like

 for (double x = back; x <= front + costmap_.info.resolution; x += costmap_.info.resolution) {
    for (double y = right; y <= left + costmap_.info.resolution; y += costmap_.info.resolution) {

Expected behavior

The front of the vehicle does not collide with obstacles

Actual behavior

Sorry, I haven't reproduced it but the front of the vehicle may collide with obstacles.

Steps to reproduce

Sorry, I haven't reproduced it but the front of the vehicle may collide with obstacles.

Versions

No response

Possible causes

No response

Additional context

No response
@kosuke55 kosuke55 changed the title free space planner may collide with front free space planner may collide obstacles with vehicle front Apr 10, 2022
@kosuke55
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cc @TakaHoribe @yukkysaito

13304490790 pushed a commit to 13304490790/autoware.universe that referenced this issue Apr 12, 2022
@1222-takeshi @mitsudome-r
@harihitode @kenji-miyake @nnmm @jilaada @nik-tier4 @esteve @k0suke-murakami @wep21 @YamatoAndo @taikitanaka3 @TakaHoribe @tkimura4 @isamu-takagi @kmiya @vios-fish @adamdbrw @h-ohta @IshitaTakeshi @kminoda @tier4-autoware-private-bot @KeisukeShima @kyoichi-sugahara @RyuYamamoto
feat: add twist_estimator packages (autowarefoundation#57)
d6327b4 
* release v0.4.0

* Avoid setting CMAKE_BUILD_TYPE=Release in each CMakeLists.txt (autowarefoundation#720)

* remove set CMAKE_BUILD_TYPE Release in each CMakeLists.txt

* remove set CMAKE_BUILD_TYPE Release in ndt_pcl_modified

* set compile options for debug in ndt_omp

* Fix indent

* add warning if -DCMAKE_BUILD_TYPE=Release is not set in ndt_omp

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "remove ROS1 packages temporarily"

This reverts commit 2ba159d0875d817ae73a0df4ba12c4660c86acfe.

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Rename launch files to launch.xml (autowarefoundation#28)

* ROS2 Porting: gyro_odometer (autowarefoundation#39)

* Make compile
 - Fix cmake and package.xml
 - Update tf and msgs

* Add publishers, subscribers and loggers
 - Fix launch file and Cmake to generate executable

* Address PR comments:
 - Remove launch file xml line (not needed)
 - Convert Buffer and TransformListener to plain objects
 - Fix some typos

* ported pose2twist from ROS1 to ROS2 (autowarefoundation#19)

* ported pose2twist from ROS1 to ROS2

* Update CMakeLists.txt

updated CMakeLists to be consise using ament_auto

* Update pose2twist_core.cpp

updated the ~Pose2Twist() = default in header

* Update package.xml

sorted dependencies alphabetically

* Update pose2twist_core.h

added  
  ~Pose2Twist() = default;

* Update pose2twist_core.h

Include guards replaced

* edited pose2twist launch file to ROS2

* fixed package XML

* Add geometry2 to repos (autowarefoundation#76)

* add geometry2 package temporarily until new release

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* trigger-ci

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add tf2 dependency to the packages that use tf2_geometry_msgs

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "Add geometry2 to repos (autowarefoundation#76)" (autowarefoundation#96)

* Revert "Add geometry2 to repos (autowarefoundation#76)"

This reverts commit 2e5ba3e86d0597920c0adf23f066521ea8a1a5b6.

* Re-add tf2 dependencies

* Revert "Re-add tf2 dependencies"

This reverts commit e23b0c8b0826cf9518924d33349f9de34b4975df.

* Debug CI pipeline

* Revert "Debug CI pipeline"

This reverts commit 58f1eba550360d82c08230552abfb64b33b23e0f.

* Explicitly install known versions of the geometry packages

* No need to skip tf2 packages anymore

Co-authored-by: Esteve Fernandez <esteve@apache.org>

* Rename h files to hpp (autowarefoundation#142)

* Change includes

* Rename files

* Adjustments to make things compile

* Other packages

* Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143)

* Use quotes for includes where appropriate (autowarefoundation#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

* Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151)

* Run uncrustify on the entire Pilot.Auto codebase

* Exclude open PRs

* adding linters to pose2twist (autowarefoundation#193)

* adding linters to gyro_odometer (autowarefoundation#192)

* apply env_var to  use_sim_time (autowarefoundation#222)

* Fix dt in pose2twist (autowarefoundation#289)

* fix dt

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* apply format

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* fix covariance (autowarefoundation#875) (autowarefoundation#267)

Signed-off-by: Yamato Ando <yamato.ando@gmail.com>

Co-authored-by: YamatoAndo <yamato.ando@gmail.com>

* rm std_msgs (autowarefoundation#359)

* rm_std_msgs (autowarefoundation#402)

* Fix rolling build errors (autowarefoundation#1225)

* Add missing include files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Replace rclcpp::Duration

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Use reference for exceptions

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Use from_seconds

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Sync public repo (autowarefoundation#1228)

* [simple_planning_simulator] add readme (autowarefoundation#424)

* add readme of simple_planning_simulator

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Update simulator/simple_planning_simulator/README.md

* set transit_margin_time to intersect. planner (autowarefoundation#460)

* Fix pose2twist (autowarefoundation#462)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Ros2 vehicle info param server (autowarefoundation#447)

* add vehicle_info_param_server

* update vehicle info

* apply format

* fix bug

* skip unnecessary search

* delete vehicle param file

* fix bug

* Ros2 fix topic name part2 (autowarefoundation#425)

* Fix topic name of traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_visualization

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_map_based_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_recognition

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix issues in hdd_reader (autowarefoundation#466)

* Fix some issues detected by Coverity Scan and Clang-Tidy

* Update launch command

* Add more `close(new_sock)`

* Simplify the definitions of struct

* fix: re-construct laneletMapLayer for reindex RTree (autowarefoundation#463)

* Rviz overlay render fix (autowarefoundation#461)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* uncrustified

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* back to RTD as superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Rviz overlay render in update (autowarefoundation#465)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* uncrustified

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* removed unnecessary includes and some dead code

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* restored RTD superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com>
Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai>

* Fix for rolling (autowarefoundation#1226)

* Replace doc by description

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Replace ns by push-ros-namespace

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Unify Apache-2.0 license name (autowarefoundation#1242)

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Feature/gyro odometer add twist with cov input (autowarefoundation#1586)

* add description for gyro_odometer package autowarefoundation#1819

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix mistake

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>

* Invoke code formatter at pre-commit (autowarefoundation#1935)

* Run ament_uncrustify at pre-commit

* Reformat existing files
* Fix copyright and cpplint errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Feature/add stop filter ros2 (autowarefoundation#1575)

* revert imu yaw bias (autowarefoundation#2040) (autowarefoundation#2043)

Co-authored-by: YamatoAndo <yamato.ando@gmail.com>

* add sort-package-xml hook in pre-commit (autowarefoundation#1881)

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

* apply pre-commit

* Change formatter to clang-format and black (autowarefoundation#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply Black

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove COLCON_IGNORE under localization (autowarefoundation#553)

* [gyro_odometer]add readme (autowarefoundation#625)

* add readme

* update

* update

* Update localization/twist_estimator/gyro_odometer/README.md

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* add discription

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* add readme in pose2twist (autowarefoundation#662)

* add readme

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Update localization/twist_estimator/pose2twist/src/README.md

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* fix readme (autowarefoundation#669)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* convert VehicleReport to Twist msgs (autowarefoundation#657)

* add vehicle velocity converter package

* clang format

* add README

* add heading_rate value

* remove twist msg

* clang format

* set covariance value

* fixed bug

* [gyro_odometer] remove input twist (autowarefoundation#706)

* remove input twist

* update README

* fix: move README.md directory

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Daichi Murakami <harihitode@gmail.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Nikolai Morin <nnmmgit@gmail.com>
Co-authored-by: Jilada Eccleston <jilada.eccleston@gmail.com>
Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Esteve Fernandez <esteve@apache.org>
Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: YamatoAndo <yamato.ando@gmail.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com>
Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com>
Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com>
Co-authored-by: RyuYamamoto <ryu.yamamoto@tier4.jp>
@BonoloAWF BonoloAWF added the type:bug Software flaws or errors. label Apr 19, 2022
@mitsudome-r mitsudome-r added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Apr 19, 2022
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@kosuke55 @TakaHoribe Is anyone from TIER IV going to fix the issue?

@kosuke55
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@HiroIshida @TakaHoribe
If you can check if this is a mistake, I will send fix PR.

@HiroIshida
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@kosuke55
Sorry for late reply. I will check today.

@HiroIshida
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HiroIshida commented May 12, 2022 •
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@kosuke55
Thank you, I think you are right.

@kosuke55 kosuke55 mentioned this issue May 29, 2022
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stale bot commented Jul 16, 2022

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Jul 16, 2022
@kosuke55
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@TakaHoribe @rej55
Not urgent, but if you have time, please check #985 🙇

@stale stale bot removed the status:stale Inactive or outdated issues. (auto-assigned) label Jul 17, 2022
@xmfcx xmfcx added this to the Bus ODD July-Aug Milestone milestone Jul 19, 2022
1222-takeshi pushed a commit to 1222-takeshi/autoware.universe that referenced this issue Jul 26, 2023
@tier4-autoware-public-bot
Merge pull request autowarefoundation#662 from tier4/sync-upstream
1cce9f2 
chore: sync upstream
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@kosuke55 kosuke55

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component:planning Route planning, decision-making, and navigation. (auto-assigned) type:bug Software flaws or errors.
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Bus ODD Project
Status: Done
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fix(freespace_planner): collision check kosuke55/autoware.universe
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@xmfcx @HiroIshida @kosuke55 @mitsudome-r @BonoloAWF