feat(behavior_path_planner): external request lane change #2442

rej55 · 2022-12-04T19:43:07Z

Description

In this change, I add an external request lane change module in behavior path planner.
This module performs lane change if it receives the request from external.

If adjacent lanes are available for lane change, this module sends RTC status topic.
Then, if the module receives RTC command, it performs lane change.

Tests performed

Tested in planning simulator and real vehicle.

cap-.2023-01-13-16-11-06.mp4.mp4

TIER IV Internal test result 822/825 -> 821/825

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codecov · 2023-01-18T02:28:31Z

Codecov Report

Base: 11.57% // Head: 11.45% // Decreases project coverage by -0.13% ⚠️

Coverage data is based on head (2fdc5fe) compared to base (38992f0).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2442      +/-   ##
==========================================
- Coverage   11.57%   11.45%   -0.13%     
==========================================
  Files        1303     1305       +2     
  Lines       90798    92036    +1238     
  Branches    23970    24674     +704     
==========================================
+ Hits        10510    10542      +32     
- Misses      69293    70391    +1098     
- Partials    10995    11103     +108

Flag	Coverage Δ		*Carryforward flag
differential	`4.74% <0.00%> (?)`
total	`11.57% <0.00%> (-0.01%)`	⬇️	Carriedforward from e64860a

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
.../rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp	`0.00% <0.00%> (ø)`
...havior_path_planner/behavior_path_planner_node.hpp	`0.00% <ø> (ø)`
...ane_change/external_request_lane_change_module.hpp	`0.00% <0.00%> (ø)`
...or_path_planner/src/behavior_path_planner_node.cpp	`0.23% <0.00%> (+0.07%)`	⬆️
...ane_change/external_request_lane_change_module.cpp	`0.00% <0.00%> (ø)`
...rc/scene_module/lane_change/lane_change_module.cpp	`0.00% <0.00%> (ø)`
...path_planner/src/scene_module/lane_change/util.cpp	`0.00% <0.00%> (ø)`
planning/route_handler/src/route_handler.cpp	`13.22% <0.00%> (+1.52%)`	⬆️
...de_manager/src/rtc_auto_mode_manager_interface.cpp	`0.00% <0.00%> (ø)`
planning/rtc_interface/src/rtc_interface.cpp	`0.00% <0.00%> (ø)`
... and 11 more

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planning/route_handler/src/route_handler.cpp

zulfaqar-azmi-t4 · 2023-01-23T02:05:34Z

...g/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp

+
+void ExternalRequestLaneChangeModule::updateOutputTurnSignal(BehaviorModuleOutput & output)
+{
+  const auto turn_signal_info = util::getPathTurnSignal(


Since turn signal is no longer computed in candidate path, it might not appear here too.
Might need to add this function

Done!
2fdc5fe

zulfaqar-azmi-t4 · 2023-01-23T02:56:38Z

Just confirming, the multiple lane change seems to be not working.

cap-.2023-01-23-11-54-12.mp4.mp4

zulfaqar-azmi-t4 · 2023-01-23T03:03:47Z

Because the util is shared, the logging doesn't actually show which module produces the error.

[component_container_mt-61] [ERROR] [1674442850.862033604] [behavior_path_planner.lane_change.util]: failed to generate shifted path.
[component_container_mt-61] [ERROR] [1674442850.961192469] [behavior_path_planner.lane_change.util]: failed to generate shifted path.
[component_container_mt-61] [ERROR] [1674442850.962053496] [behavior_path_planner.lane_change.util]: failed to generate shifted path.
[component_container_mt-61] [ERROR] [1674442851.061363089] [behavior_path_planner.lane_change.util]: failed to generate shifted path.
[component_container_mt-61] [ERROR] [1674442851.062806733] [behavior_path_planner.lane_change.util]: failed to generate shifted path.

I don't think the fix is needed as soon as possible so we can probably move this activity during refactoring

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>

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

…default tree Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

rej55 · 2023-01-23T05:18:08Z

@zulfaqar-azmi-t4

Just confirming, the multiple lane change seems to be not working.

cap-.2023-01-23-11-54-12.mp4.mp4

It is maybe finish judge problem.
Can I fix it in other PR?

zulfaqar-azmi-t4 · 2023-01-23T06:52:15Z

@rej55

Can I fix it in other PR?

Sure.

zulfaqar-azmi-t4

I've checked the normal lane change function and it seems that beside the following

Multiple lane change
Logging for common function

Other seems to work as expected.
Separate PR will be made to solve them.

…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>

* fix(behavior_path_planner): lane change check default parameters (autowarefoundation#2575) Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> * feat(lane_change): update path generation logic to consider lateral jerk 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> * feat(behavior_path_planner): abort lane change function (autowarefoundation#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> * feat(behavior path planner): lane change cancel/abort docs update (autowarefoundation#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> * fix(lane_change): use current lane for num to preferred lane input (autowarefoundation#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> * fix(behavior_path_planner): lane change turn signal during approval (autowarefoundation#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> * fix(behavior_path_planner): improve isPathInLanelet function for lane 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> * feat(rtc_auto_mode_manager)!: add auto mode status array (autowarefoundation#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> * feat(behavior_path_planner): external request lane change (autowarefoundation#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> * fix(motion_utils/path_shifter): modify the sampling method (autowarefoundation#2658) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix(behavior_path_planner): lane change interpolated obj orientation (autowarefoundation#2727) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix(behavior_path_planner): reduce obj indices call in lane change (autowarefoundation#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> * feat(behavior_path_planner): enable lane change in intersection (autowarefoundation#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> * fix(behavior_path_planner): make lane change safety check adaptive (autowarefoundation#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> * fix(lane_change): chattering issue when performing check (autowarefoundation#2741) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: taikitanaka3 <ttatcoder@outlook.jp> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

…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>

…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: Alexey Panferov <lexavtanke@gmail.com>

github-actions bot added component:common Common packages from the autoware-common repository. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Dec 4, 2022

rej55 force-pushed the feature/external_request_lane_change branch 4 times, most recently from 05ade81 to 0f1b8d0 Compare December 19, 2022 09:58

rej55 mentioned this pull request Dec 20, 2022

feat(behavior_path_planner): output multiple candidate paths #2486

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rej55 force-pushed the feature/external_request_lane_change branch 2 times, most recently from a11ecf7 to 0a749ee Compare January 10, 2023 08:00

rej55 force-pushed the feature/external_request_lane_change branch 3 times, most recently from 6fc7890 to 0863e69 Compare January 15, 2023 23:11

rej55 mentioned this pull request Jan 15, 2023

feat(behavior_path_planner): external request lane change tier4/autoware_launch-old#691

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rej55 marked this pull request as ready for review January 15, 2023 23:51

rej55 requested review from a team, kosuke55, satoshi-ota, shmpwk, taikitanaka3, TakaHoribe, takayuki5168, tkimura4, purewater0901, zulfaqar-azmi-t4, kyoichi-sugahara, mkuri, soblin and TomohitoAndo as code owners January 15, 2023 23:51

rej55 force-pushed the feature/external_request_lane_change branch from 81cf203 to 139f7a1 Compare January 18, 2023 01:35

TakaHoribe approved these changes Jan 20, 2023

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rej55 added 7 commits January 23, 2023 14:15

fix(behavior_path_planner): remove unnecessary change

db3d41a

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feat(behavior_path_planner): fix getLaneChangePaths()

718e5c7

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feat(behavior_path_planner): disable external request lane change in …

b7b0564

…default tree Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

Update rtc_auto_mode_manager.param.yaml

f44c772

fix(route_handler): remove redundant code

89cbea5

fix(behavior_path_planner): fix for turn signal

2fdc5fe

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

rej55 force-pushed the feature/external_request_lane_change branch from 262cc65 to 2fdc5fe Compare January 23, 2023 05:16

zulfaqar-azmi-t4 approved these changes Jan 23, 2023

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rej55 merged commit a9c7dc2 into autowarefoundation:main Jan 23, 2023

rej55 mentioned this pull request Jan 23, 2023

feat(behavior_path_planner): enable lane change in intersection #2720

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tier4-autoware-public-bot bot mentioned this pull request Jan 24, 2023

chore: sync upstream tier4/autoware.universe#254

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tkimura4 mentioned this pull request Jan 24, 2023

feat: update lane change (v0.7.0) tier4/autoware.universe#255

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feat(behavior_path_planner): external request lane change #2442

feat(behavior_path_planner): external request lane change #2442

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feat(behavior_path_planner): external request lane change #2442

feat(behavior_path_planner): external request lane change #2442

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