fix(ground_filter): expand range of cropped_box_filter #1241
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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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@@ Coverage Diff @@
## main #1241 +/- ##
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- Coverage 9.52% 9.51% -0.02%
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Files 1051 1051
Lines 72452 72534 +82
Branches 15776 15776
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Hits 6899 6899
- Misses 59271 59353 +82
Partials 6282 6282
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miursh
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Jul 6, 2022
perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
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| ((p->orig_point->z - ground_cluster.getAverageHeight()) < -split_height_distance_) || | ||
| (height_from_gnd > non_ground_heigh_thresh_)) { | ||
| // exclude pcl under ground or higher than limit | ||
| calculate_slope = false; |
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In this case, what would be the label for point?
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I assigned as out_of_range label for that points
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When the point is labeled out of range, prev point label will be also set to out of range. Is this okay for next point judgement?
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as this condition , if the point is labeled out of range, the next point should not classify as POINT_FOLLOW, but GROUND, NON_GROUND or OUT_OF_RANGE.
Keeping to use the current ground_cluster and non_ground_cluster to check the next point is reasonable, IMO.
perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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@badai-nguyen Could you update readme about the new parameters? |
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I think you should update the crop box range here |
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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@badai-nguyen What happens if we extend the range further down? Will there be too many false positives? |
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@badai-nguyen Detection performance seems to be worse than before in some areas. For example the vehicle approaching from left side to the intersection looks like this. [left: before,right: after]
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Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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@miursh |
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By extending more range of crop_box, the vehicle on the other side of intersection can be detected at few moments. Not perfect yet. |
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Jul 12, 2022
* Ros2 v0.8.0 lane departure checker (autowarefoundation#327) * Add lane departure checker (autowarefoundation#928) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix bug of lane_departure_checker (autowarefoundation#1011) * Fix bug of lane_departure_checker Since preceeding lanelets are missing, when vehicle is at the beginning of a lanelet, it's mistakenly considered as out of lane. Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Reduce computational cost of lane_departure_checker (autowarefoundation#1026) Lanelet visualization will be too slow when big lanelets are visualized. Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo (autowarefoundation#1062) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * [lane_departure_checker]: Port to ROS2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [lane_departure_checker]: Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_utils]: Publish autoware debug msgs Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [lane_departure_checker]: Use autoware_debug_msgs instead of std_msgs Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [goal_distance_calculator]: Use autoware_debug_msgs instead of std_msgs Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_utils]: Add namespace to debug traits Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [lane_departure_checker]: Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 v0.8.0 obstacle collision checker (autowarefoundation#316) * Feature/obstacle collision checker (autowarefoundation#1063) * Add template * Remove unnecessary code * Add obstacle_collision_checker * add braking distance * delete unuse file * change resample traj * Format files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add author Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove vehicle_footprint visualization Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Move package under control/trajectory_follower Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add space Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix visualization error Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove comment out lines Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * ros2 porting * remove "dynamic_reconfigure" * fix CMAKELists.txt & apply lint * fix paramCallback * remove unnecessary comment * fix include statement Co-authored-by: Satoshi Tanaka <st14.828soccer@gmail.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 v0.8.0 fix packages (autowarefoundation#351) * add subscription to QoS * add vihicle_param _file to simple_planning_sim * update cmake/packages.xml * comment out unused parameter * apply lint * add vehicle_info_util to lane_change_planner * add vehicle_info_util to vehicle_cmd_gate * fix cmake of simple planning simulator * update cmake/packages.xml of vehicle cmd gate * apply lint * apply lint * add latch option to autoware_state_monitor * delete unused comment Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Rename ROS-related .yaml to .param.yaml (autowarefoundation#352) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove prefix 'default_' of yaml files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename diagnostic_aggregator's param files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix overlooked parameters Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix/lane departure checker (autowarefoundation#386) * Fix/lane departure checker (autowarefoundation#1177) * Add more processing time measurement Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename processing_time to processing_time_ms Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Refactor StopWatch class Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * apply ament_uncrustify Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 fix topic name part1 (autowarefoundation#408) * Fix topic name of lane_departure_checker debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_departure_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_stop_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of surround_obstacle_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of emergency_handler Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint errors Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix typo Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix typo in control module (autowarefoundation#428) * Fix typo in control module * Change admissible_yaw_error to admissible_yaw_error_rad * Change 90.0 deg to 1.57 rad and remove trailing whitespace Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix duration (autowarefoundation#445) * fix duration Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * change to from_seconds Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * fix other duration Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * replace -1 with 0 Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * apply ament_lint_common Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * uncrustify Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * add space Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * add another space Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add use_sim-time option (autowarefoundation#454) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 delete vehicle info (autowarefoundation#1227) * remove dependency on vehicle info in autoware_utils * delete vehicle_info in autoware_utils Signed-off-by: tanaka3 <ttatcoder@outlook.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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Unify Apache-2.0 license name (autowarefoundation#1242) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Make control modules components (autowarefoundation#1262) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Remove vehicle info param server (autowarefoundation#1304) * Remove vehicle info param server Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix ament_uncrustify Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix ament_uncrustify Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Refactor vehicle info util (autowarefoundation#1305) * Update license Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Refactor vehicle_info_util Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename and split files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix interfaces Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix bug and add error handling Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add "// namespace" Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing include Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix/fix utils (autowarefoundation#1310) * Add missing namespace to autoware_utils Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add createVehicleInfo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add rethrow Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Format package.xml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix usage of autoware_utils Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing namespace comment Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Initialize Input and Output struct correctly to avoid the undefined behavior (autowarefoundation#1408) * Initialize Input and Output struct correctly to avoid the undefined behavior This fixes the following UBSan error: ``` /src/autoware/autoware.iv/control/trajectory_follower/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp:363:15: runtime error: load of value 104, which is not a valid value for type 'bool' src/autoware/autoware.iv/control/trajectory_follower/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp:358:15: runtime error: load of value 114, which is not a valid value for type 'bool' ``` * Improve how to initialize struct with NSDMI (non-static data member initializer) * Fix styles Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/expand footprint (autowarefoundation#1757) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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 Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix processing time output of lane_departure_checker (autowarefoundation#2071) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix missing declare_parameter of lane_departure_checker (autowarefoundation#2073) * Fix missing declare_parameter of lane_departure_checker Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change marker color Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * reduce lanelet calc of lane_departure_checker (improved logic) (#2102) * reduce lanelet calc of lane_departure_checker (improved logic) * fix ament_cpplint error (delete redundant blank line) * modify createVehiclePassingAreas not to use unnecessary local variable Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * port obstacle collision checker (autowarefoundation#481) * port obstacle collision checker * remove COLCON_IGNORE * use odometry instead of twist * rename topic name input/twist -> input/odometry * add nav_msgs Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * port lane_departure_checker (autowarefoundation#499) * Use autoware_auto_msgs * Fix document * Remove COLCON_IGNORE * Use TrajectoryPointArray for resampling * Rename TrajectoryPointArray to TrajectoryPoints, fix order of member variable Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add readme to obstacle collision checker (autowarefoundation#541) * add readme to obstacle collision checker * fix spelling * Format Doc Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Fix Typo Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Remove Duplicated Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * update readme * To publish diag error * Update readme Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * fix uml Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Back port .auto control packages (autowarefoundation#571) * Implement Lateral and Longitudinal Control Muxer * [autowarefoundation#570] Porting wf_simulator * [autowarefoundation#1189] Deactivate flaky test in 'trajectory_follower_nodes' * [autowarefoundation#1189] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' * [autowarefoundation#1057] Add osqp_interface package * [autowarefoundation#1057] Add library code for MPC-based lateral control * [autowarefoundation#1271] Use std::abs instead of abs * [autowarefoundation#1057] Implement Lateral Controller for Cargo ODD * [autowarefoundation#1246] Resolve "Test case names currently use snake_case but should be CamelCase" * [autowarefoundation#1325] Deactivate flaky smoke test in 'trajectory_follower_nodes' * [autowarefoundation#1058] Add library code of longitudinal controller * Fix build error for trajectory follower Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix build error for trajectory follower nodes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autowarefoundation#1272] Add AckermannControlCommand support to simple_planning_simulator * [autowarefoundation#1058] Add Longitudinal Controller node * [autowarefoundation#1058] Rename velocity_controller -> longitudinal_controller * [autowarefoundation#1058] Update CMakeLists.txt for the longitudinal_controller_node * [autowarefoundation#1058] Add smoke test python launch file * [autowarefoundation#1058] Use LowPassFilter1d from trajectory_follower * [autowarefoundation#1058] Use autoware_auto_msgs * [autowarefoundation#1058] Changes for .auto (debug msg tmp fix, common func, tf listener) * [autowarefoundation#1058] Remove unused parameters * [autowarefoundation#1058] Fix ros test * [autowarefoundation#1058] Rm default params from declare_parameters + use autoware types * [autowarefoundation#1058] Use default param file to setup NodeOptions in the ros test * [autowarefoundation#1058] Fix docstring * [autowarefoundation#1058] Replace receiving a Twist with a VehicleKinematicState * [autowarefoundation#1058] Change class variables format to m_ prefix * [autowarefoundation#1058] Fix plugin name of LongitudinalController in CMakeLists.txt * [autowarefoundation#1058] Fix copyright dates * [autowarefoundation#1058] Reorder includes * [autowarefoundation#1058] Add some tests (~89% coverage without disabling flaky tests) * [autowarefoundation#1058] Add more tests (90+% coverage without disabling flaky tests) * [autowarefoundation#1058] Use Float32MultiArrayDiagnostic message for debug and slope * [autowarefoundation#1058] Calculate wheel_base value from vehicle parameters * [autowarefoundation#1058] Cleanup redundant logger setting in tests * [autowarefoundation#1058] Set ROS_DOMAIN_ID when running tests to prevent CI failures * [autowarefoundation#1058] Remove TF listener and use published vehicle state instead * [autowarefoundation#1058] Change smoke tests to use autoware_testing * [autowarefoundation#1058] Add plotjuggler cfg for both lateral and longitudinal control * [autowarefoundation#1058] Improve design documents * [autowarefoundation#1058] Disable flaky test * [autowarefoundation#1058] Properly transform vehicle state in longitudinal node * [autowarefoundation#1058] Fix TF buffer of lateral controller * [autowarefoundation#1058] Tuning of lateral controller for LGSVL * [autowarefoundation#1058] Fix formating * [autowarefoundation#1058] Fix /tf_static sub to be transient_local * [autowarefoundation#1058] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [autowarefoundation#1379] Update trajectory_follower * [autowarefoundation#1379] Update simple_planning_simulator * [autowarefoundation#1379] Update trajectory_follower_nodes * apply trajectory msg modification in control Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move directory Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remote control/trajectory_follower level dorectpry Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove .iv trajectory follower Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use .auto trajectory_follower Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add tmp_autoware_auto_dependencies Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * tmporally add autoware_auto_msgs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply .auto message split Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix build depend Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix packages using osqp * fix autoware_auto_geometry * ignore lint of some packages * ignore ament_lint of some packages * ignore lint/pre-commit of trajectory_follower_nodes * disable unit tests of some packages Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com> Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix message interface and tests of 'trajectory_follower_nodes' (autowarefoundation#617) * Update longitudinal_controller_node to use VehicleOdometry * Update lateral_controller_node for VehicleOdometry and SteeringReport * Fix tests Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Update lateral controller (autowarefoundation#708) * Fix parameter names of mpc_follower (autowarefoundation#1376) * remove yaw_recalc param in mpc (autowarefoundation#1241) (autowarefoundation#1476) * parameterize curvature num (autowarefoundation#1674) (autowarefoundation#1577) * fix rosparam steer_rate_lim_degs to steer_rate_lim_dps in mpc_follower (autowarefoundation#1848) * Fix spellcheck fail for some packages autowarefoundation#1842 * use interpolation::slerp (autowarefoundation#2161) * Fix/mpc reset prev result (autowarefoundation#2185) * add add guard (autowarefoundation#2184) * add-mpc-optimization-status-print (autowarefoundation#2189) * Apply ament_uncrustify * Update control/trajectory_follower/src/qp_solver/qp_solver_osqp.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * velocity_controller sync to .iv develop latest (autowarefoundation#699) * non extrapolate velocity in lerpTrajectory to avoid negative velocity just before vehicle stops (autowarefoundation#2033) * Add keep braking function at driving state (autowarefoundation#2346) * Add keep braking function at driving state Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Remove debug messages Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Fix format Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Feature/add doc for keep braking function at driving state (autowarefoundation#2366) * Add the description of brake keeping Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Add the english document Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Improve description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Add english description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Co-authored-by: Satoshi Tanaka <st14.828soccer@gmail.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.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: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: v-hara8206-esol <88299881+v-hara8206-esol@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com> Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>
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* Back port .auto control packages (autowarefoundation#571) * Implement Lateral and Longitudinal Control Muxer * [autowarefoundation#570] Porting wf_simulator * [autowarefoundation#1189] Deactivate flaky test in 'trajectory_follower_nodes' * [autowarefoundation#1189] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' * [autowarefoundation#1057] Add osqp_interface package * [autowarefoundation#1057] Add library code for MPC-based lateral control * [autowarefoundation#1271] Use std::abs instead of abs * [autowarefoundation#1057] Implement Lateral Controller for Cargo ODD * [autowarefoundation#1246] Resolve "Test case names currently use snake_case but should be CamelCase" * [autowarefoundation#1325] Deactivate flaky smoke test in 'trajectory_follower_nodes' * [autowarefoundation#1058] Add library code of longitudinal controller * Fix build error for trajectory follower Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix build error for trajectory follower nodes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autowarefoundation#1272] Add AckermannControlCommand support to simple_planning_simulator * [autowarefoundation#1058] Add Longitudinal Controller node * [autowarefoundation#1058] Rename velocity_controller -> longitudinal_controller * [autowarefoundation#1058] Update CMakeLists.txt for the longitudinal_controller_node * [autowarefoundation#1058] Add smoke test python launch file * [autowarefoundation#1058] Use LowPassFilter1d from trajectory_follower * [autowarefoundation#1058] Use autoware_auto_msgs * [autowarefoundation#1058] Changes for .auto (debug msg tmp fix, common func, tf listener) * [autowarefoundation#1058] Remove unused parameters * [autowarefoundation#1058] Fix ros test * [autowarefoundation#1058] Rm default params from declare_parameters + use autoware types * [autowarefoundation#1058] Use default param file to setup NodeOptions in the ros test * [autowarefoundation#1058] Fix docstring * [autowarefoundation#1058] Replace receiving a Twist with a VehicleKinematicState * [autowarefoundation#1058] Change class variables format to m_ prefix * [autowarefoundation#1058] Fix plugin name of LongitudinalController in CMakeLists.txt * [autowarefoundation#1058] Fix copyright dates * [autowarefoundation#1058] Reorder includes * [autowarefoundation#1058] Add some tests (~89% coverage without disabling flaky tests) * [autowarefoundation#1058] Add more tests (90+% coverage without disabling flaky tests) * [autowarefoundation#1058] Use Float32MultiArrayDiagnostic message for debug and slope * [autowarefoundation#1058] Calculate wheel_base value from vehicle parameters * [autowarefoundation#1058] Cleanup redundant logger setting in tests * [autowarefoundation#1058] Set ROS_DOMAIN_ID when running tests to prevent CI failures * [autowarefoundation#1058] Remove TF listener and use published vehicle state instead * [autowarefoundation#1058] Change smoke tests to use autoware_testing * [autowarefoundation#1058] Add plotjuggler cfg for both lateral and longitudinal control * [autowarefoundation#1058] Improve design documents * [autowarefoundation#1058] Disable flaky test * [autowarefoundation#1058] Properly transform vehicle state in longitudinal node * [autowarefoundation#1058] Fix TF buffer of lateral controller * [autowarefoundation#1058] Tuning of lateral controller for LGSVL * [autowarefoundation#1058] Fix formating * [autowarefoundation#1058] Fix /tf_static sub to be transient_local * [autowarefoundation#1058] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [autowarefoundation#1379] Update trajectory_follower * [autowarefoundation#1379] Update simple_planning_simulator * [autowarefoundation#1379] Update trajectory_follower_nodes * apply trajectory msg modification in control Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move directory Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remote control/trajectory_follower level dorectpry Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove .iv trajectory follower Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use .auto trajectory_follower Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add tmp_autoware_auto_dependencies Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * tmporally add autoware_auto_msgs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply .auto message split Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix build depend Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix packages using osqp * fix autoware_auto_geometry * ignore lint of some packages * ignore ament_lint of some packages * ignore lint/pre-commit of trajectory_follower_nodes * disable unit tests of some packages Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com> Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix message interface and tests of 'trajectory_follower_nodes' (autowarefoundation#617) * Update longitudinal_controller_node to use VehicleOdometry * Update lateral_controller_node for VehicleOdometry and SteeringReport * Fix tests Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Change the topic name of the control_cmd to align them in trajectory_follower_node (autowarefoundation#659) * Fix topic names * Fix namespace * Fix test codes Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix type of current odometry in trajectory_follower_node (autowarefoundation#666) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * [latlon muxer] fix gtest (autowarefoundation#670) * fix gtest * remove unchanged Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Update lateral controller (autowarefoundation#708) * Fix parameter names of mpc_follower (autowarefoundation#1376) * remove yaw_recalc param in mpc (autowarefoundation#1241) (autowarefoundation#1476) * parameterize curvature num (autowarefoundation#1674) (autowarefoundation#1577) * fix rosparam steer_rate_lim_degs to steer_rate_lim_dps in mpc_follower (autowarefoundation#1848) * Fix spellcheck fail for some packages autowarefoundation#1842 * use interpolation::slerp (autowarefoundation#2161) * Fix/mpc reset prev result (autowarefoundation#2185) * add add guard (autowarefoundation#2184) * add-mpc-optimization-status-print (autowarefoundation#2189) * Apply ament_uncrustify * Update control/trajectory_follower/src/qp_solver/qp_solver_osqp.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Use vehicle info utils (autowarefoundation#709) * Use vehicle info utils and disable unit test * Update trajectory_follower_nodes default parameters and reenable tests * Separate vehicle info param file for test Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * remove stop distance condition from stopState decision (autowarefoundation#1916) (autowarefoundation#715) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * velocity_controller sync to .iv develop latest (autowarefoundation#699) * non extrapolate velocity in lerpTrajectory to avoid negative velocity just before vehicle stops (autowarefoundation#2033) * Add keep braking function at driving state (autowarefoundation#2346) * Add keep braking function at driving state Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Remove debug messages Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Fix format Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Feature/add doc for keep braking function at driving state (autowarefoundation#2366) * Add the description of brake keeping Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Add the english document Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Improve description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Add english description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix topic name in plot juggler (autowarefoundation#734) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix unstable test in trajectory_follower_nodes (autowarefoundation#731) * Added spin_some to store tf_buffer * add more spin * uncomment statement * Remove temp file * Update control/trajectory_follower_nodes/src/lateral_controller_node.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Joshua Whitley <josh.whitley@autoware.org> Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com> Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
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Signed-off-by: badai-nguyen dai.nguyen@tier4.jp
Description
Current scan_ground_filter use the input from cropped_box_filter which limited from 0 < z < vehicle_height. Therefore, in case of uneven road or slope, the ground pcl might be filtered out and failure to initialize initial point cloud by scan_ground_filter. It could fixed by extending the cropped_box_filter range wider. This makes sure scan_ground_filter excludes the under ground point from non_ground point label when extending the range of cropped_box_filter.
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