fix(start_planner): update drivable area info and enable idle to running state transition #6172

kyoichi-sugahara · 2024-01-25T05:32:10Z

Description

drivable_margin is set for freespace planner in start_planner module and the start_planner assume the parameter is not erased following modules.
But in some cases like dynamic_avoidance module runs after start_planner module, drivable_margin is erased.

so in this PR, changed combineDrivableAreaInfo to inherit drivable_margin from previous module output

Tests performed

PASS TIERIV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

kosuke55

lgtm!

codecov · 2024-01-25T12:04:51Z

Codecov Report

Attention: 3 lines in your changes are missing coverage. Please review.

Comparison is base (007d156) 14.65% compared to head (b06031f) 14.65%.
Report is 9 commits behind head on main.

Files	Patch %	Lines
...s/drivable_area_expansion/static_drivable_area.cpp	0.00%	2 Missing ⚠️
...path_start_planner_module/start_planner_module.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6172      +/-   ##
==========================================
- Coverage   14.65%   14.65%   -0.01%     
==========================================
  Files        1869     1869              
  Lines      127462   127463       +1     
  Branches    37312    37313       +1     
==========================================
  Hits        18682    18682              
- Misses      87801    87802       +1     
  Partials    20979    20979

Flag	Coverage Δ		*Carryforward flag
differential	`11.68% <0.00%> (?)`
total	`14.65% <ø> (+<0.01%)`	⬆️	Carriedforward from 007d156

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

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kosuke55 · 2024-01-26T07:11:00Z

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -1317,6 +1312,7 @@ bool StartPlannerModule::planFreespacePath()
 void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const
 {
  if (status_.planner_type == PlannerType::FREESPACE) {
+    std::cerr << "Freespace planner updated drivable area." << std::endl;


@kyoichi-sugahara you forgot remove tihs?

@kosuke55
Sorry I forgot to remove this and remove in this PR

…ing state transition (autowarefoundation#6172) Update drivable area info and enable idle to running state transition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>

…ing state transition (autowarefoundation#6172) Update drivable area info and enable idle to running state transition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Update drivable area info and enable idle to running state transition

b06031f

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

kyoichi-sugahara requested review from kosuke55, satoshi-ota, shmpwk, TomohitoAndo, tkimura4, danielsanchezaran, rej55, soblin, maxime-clem, TakaHoribe, takayuki5168 and zulfaqar-azmi-t4 as code owners January 25, 2024 05:32

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jan 25, 2024

kyoichi-sugahara assigned kosuke55 Jan 25, 2024

kosuke55 approved these changes Jan 25, 2024

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kyoichi-sugahara added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 25, 2024

kyoichi-sugahara merged commit 57cf88d into autowarefoundation:main Jan 26, 2024
36 of 39 checks passed

kyoichi-sugahara deleted the fix/inherit_drivable_margin branch January 26, 2024 07:03

kosuke55 reviewed Jan 26, 2024

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satoshi-ota mentioned this pull request Jan 29, 2024

fix(avoidance): cherry pick new feature tier4/autoware.universe#1120

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4 tasks

tier4-autoware-public-bot bot mentioned this pull request Feb 7, 2024

chore: sync upstream tier4/autoware.universe#1130

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karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024

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fix(start_planner): update drivable area info and enable idle to running state transition #6172

fix(start_planner): update drivable area info and enable idle to running state transition #6172

kyoichi-sugahara commented Jan 25, 2024 •

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kosuke55 Jan 26, 2024

kyoichi-sugahara Jan 26, 2024

fix(start_planner): update drivable area info and enable idle to running state transition #6172

fix(start_planner): update drivable area info and enable idle to running state transition #6172

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kyoichi-sugahara commented Jan 25, 2024 • edited Loading

Description

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kyoichi-sugahara commented Jan 25, 2024 •

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