diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 656d632f00f8..49da65cd8556 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -89,3 +89,11 @@ files: - source: .github/workflows/deploy-docs.yaml - source: .github/workflows/delete-closed-pr-docs.yaml + - source: mkdocs.yaml + pre-commands: | + sd "Autoware Documentation" "Autoware Universe Documentation" {source} + sd "autoware-documentation" "autoware.universe" {source} + sd "repo_url: .*" "repo_url: https://github.com/autowarefoundation/autoware.universe" {source} + sd "/edit/main/docs/" "/edit/main/" {source} + sd "docs_dir: .*" "docs_dir: ." {source} + sd "assets/(\w+)" "docs/assets/\$1" {source} diff --git a/common/autoware_ad_api_specs/package.xml b/common/autoware_ad_api_specs/package.xml index ca3d998617d9..d4d82faf4ee7 100644 --- a/common/autoware_ad_api_specs/package.xml +++ b/common/autoware_ad_api_specs/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake ament_lint_auto autoware_lint_common diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index 17d666e2273e..59e2907e9150 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake builtin_interfaces eigen diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml index e19ac4897aab..73943452718f 100644 --- a/common/autoware_auto_geometry/package.xml +++ b/common/autoware_auto_geometry/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_common autoware_auto_geometry_msgs diff --git a/common/autoware_auto_perception_rviz_plugin/package.xml b/common/autoware_auto_perception_rviz_plugin/package.xml index 4771589dc903..c1ad3e3df140 100644 --- a/common/autoware_auto_perception_rviz_plugin/package.xml +++ b/common/autoware_auto_perception_rviz_plugin/package.xml @@ -12,8 +12,8 @@ Apache 2.0 ament_cmake + autoware_cmake - autoware_cmake libboost-dev qtbase5-dev diff --git a/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md b/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md index 3befe575e3e7..aaa719d61737 100644 --- a/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md +++ b/common/autoware_auto_tf2/design/autoware-auto-tf2-design.md @@ -8,7 +8,7 @@ In general, users of ROS rely on tf (and its successor, tf2) for publishing and frame transforms. This is true even to the extent that the tf2 contains the packages `tf2_geometry_msgs` and `tf2_sensor_msgs` which allow for easy conversion to and from the message types defined in `geometry_msgs` and `sensor_msgs`, respectively. However, AutowareAuto contains -some specialized message types which are not transformable between frames using the ROS2 library. +some specialized message types which are not transformable between frames using the ROS 2 library. The `autoware_auto_tf2` package aims to provide developers with tools to transform applicable `autoware_auto_msgs` types. In addition to this, this package also provides transform tools for messages types in `geometry_msgs` missing in `tf2_geometry_msgs`. @@ -49,7 +49,7 @@ const ros::Time& tf2::getTimestamp(const T& t); ## Current Implementation of tf2_geometry_msgs -In both ROS1 and ROS2 stamped msgs like `Vector3Stamped`, `QuaternionStamped` have associated +In both ROS 1 and ROS 2 stamped msgs like `Vector3Stamped`, `QuaternionStamped` have associated functions like: - `getTimestamp` @@ -58,13 +58,13 @@ functions like: - `toMsg` - `fromMsg` -In ROS1, to support `tf2::convert` and need in `doTransform` of the stamped data, non-stamped +In ROS 1, to support `tf2::convert` and need in `doTransform` of the stamped data, non-stamped underlying data like `Vector3`, `Point`, have implementations of the following functions: - `toMsg` - `fromMsg` -In ROS2, much of the `doTransform` method is not using `toMsg` and `fromMsg` as data types from tf2 +In ROS 2, much of the `doTransform` method is not using `toMsg` and `fromMsg` as data types from tf2 are not used. Instead `doTransform` is done using `KDL`, thus functions relating to underlying data were not added; such as `Vector3`, `Point`, or ported in this commit ros/geometry2/commit/6f2a82. The non-stamped data with `toMsg` and `fromMsg` are `Quaternion`, `Transform`. `Pose` has the diff --git a/common/autoware_auto_tf2/package.xml b/common/autoware_auto_tf2/package.xml index c80ce45a217a..c7b620a9a737 100644 --- a/common/autoware_auto_tf2/package.xml +++ b/common/autoware_auto_tf2/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_common autoware_auto_geometry_msgs diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index 8829bd7538d9..e05b604e90d1 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -10,12 +10,11 @@ ament_cmake_core ament_cmake_export_dependencies ament_cmake_test + autoware_cmake ament_cmake_core ament_cmake_test - autoware_cmake - ament_cmake_copyright ament_cmake_cppcheck ament_cmake_lint_cmake diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml index 30a27bb9435b..769942b43788 100644 --- a/common/autoware_testing/package.xml +++ b/common/autoware_testing/package.xml @@ -9,8 +9,7 @@ ament_cmake_auto ament_cmake_lint_cmake - - autoware_cmake + autoware_cmake ros_testing diff --git a/common/bag_time_manager_rviz_plugin/package.xml b/common/bag_time_manager_rviz_plugin/package.xml index b12c24b728cd..f82d75b46e06 100644 --- a/common/bag_time_manager_rviz_plugin/package.xml +++ b/common/bag_time_manager_rviz_plugin/package.xml @@ -8,8 +8,8 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake - autoware_cmake libqt5-core libqt5-gui libqt5-widgets diff --git a/common/component_interface_specs/package.xml b/common/component_interface_specs/package.xml index 54a0f1a66d5d..d4fe460a6dae 100644 --- a/common/component_interface_specs/package.xml +++ b/common/component_interface_specs/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs diff --git a/common/component_interface_tools/package.xml b/common/component_interface_tools/package.xml index a1eba3cb41e0..ebf0684d0066 100644 --- a/common/component_interface_tools/package.xml +++ b/common/component_interface_tools/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake diagnostic_updater fmt diff --git a/common/component_interface_utils/package.xml b/common/component_interface_utils/package.xml index b1f49fe40f40..a1803a35cc1c 100644 --- a/common/component_interface_utils/package.xml +++ b/common/component_interface_utils/package.xml @@ -11,8 +11,8 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake - autoware_cmake tier4_system_msgs autoware_adapi_v1_msgs diff --git a/common/cuda_utils/package.xml b/common/cuda_utils/package.xml index 53127da0c1ff..4ae44469f1ef 100644 --- a/common/cuda_utils/package.xml +++ b/common/cuda_utils/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake ament_lint_auto autoware_lint_common diff --git a/common/fake_test_node/package.xml b/common/fake_test_node/package.xml index 8e919d719fc6..78d53831670d 100644 --- a/common/fake_test_node/package.xml +++ b/common/fake_test_node/package.xml @@ -8,8 +8,7 @@ Apache 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake ament_cmake_ros autoware_auto_common diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml index 97e679334e6c..5fa46351930c 100644 --- a/common/global_parameter_loader/package.xml +++ b/common/global_parameter_loader/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake vehicle_info_util diff --git a/common/goal_distance_calculator/package.xml b/common/goal_distance_calculator/package.xml index 941186daa063..49cb674f0a25 100644 --- a/common/goal_distance_calculator/package.xml +++ b/common/goal_distance_calculator/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_planning_msgs geometry_msgs diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml index 5a39d818a323..e5d2c7af8d06 100644 --- a/common/interpolation/package.xml +++ b/common/interpolation/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake tier4_autoware_utils diff --git a/common/kalman_filter/include/kalman_filter/kalman_filter.hpp b/common/kalman_filter/include/kalman_filter/kalman_filter.hpp index 2ae8877aeea6..79a47bde3a1b 100644 --- a/common/kalman_filter/include/kalman_filter/kalman_filter.hpp +++ b/common/kalman_filter/include/kalman_filter/kalman_filter.hpp @@ -15,8 +15,8 @@ #ifndef KALMAN_FILTER__KALMAN_FILTER_HPP_ #define KALMAN_FILTER__KALMAN_FILTER_HPP_ -#include -#include +#include +#include /** * @file kalman_filter.h diff --git a/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp b/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp index 1a072bb43d4a..cdc03f355885 100644 --- a/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp +++ b/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp @@ -17,8 +17,8 @@ #include "kalman_filter/kalman_filter.hpp" -#include -#include +#include +#include #include diff --git a/common/kalman_filter/package.xml b/common/kalman_filter/package.xml index f75755c17260..ea061f3f23bb 100644 --- a/common/kalman_filter/package.xml +++ b/common/kalman_filter/package.xml @@ -12,8 +12,8 @@ Takamasa Horibe ament_cmake_auto + autoware_cmake - autoware_cmake eigen eigen3_cmake_module diff --git a/common/motion_utils/package.xml b/common/motion_utils/package.xml index ee6975e0caa8..834342624bfc 100644 --- a/common/motion_utils/package.xml +++ b/common/motion_utils/package.xml @@ -20,8 +20,7 @@ Satoshi Ota ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_planning_msgs autoware_auto_vehicle_msgs diff --git a/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp b/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp index cabced5855d1..a919bc1f1c03 100644 --- a/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp +++ b/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp @@ -15,10 +15,11 @@ #ifndef OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ #define OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ -#include "eigen3/Eigen/Core" #include "osqp/glob_opts.h" // for 'c_int' type ('long' or 'long long') #include "osqp_interface/visibility_control.hpp" +#include + #include namespace autoware diff --git a/common/osqp_interface/include/osqp_interface/osqp_interface.hpp b/common/osqp_interface/include/osqp_interface/osqp_interface.hpp index fa9d491cd9c5..f126ba9329d3 100644 --- a/common/osqp_interface/include/osqp_interface/osqp_interface.hpp +++ b/common/osqp_interface/include/osqp_interface/osqp_interface.hpp @@ -15,11 +15,11 @@ #ifndef OSQP_INTERFACE__OSQP_INTERFACE_HPP_ #define OSQP_INTERFACE__OSQP_INTERFACE_HPP_ -#include "eigen3/Eigen/Core" #include "osqp/osqp.h" #include "osqp_interface/csc_matrix_conv.hpp" #include "osqp_interface/visibility_control.hpp" +#include #include #include diff --git a/common/osqp_interface/package.xml b/common/osqp_interface/package.xml index 643611ca4844..41ee5bb9055a 100644 --- a/common/osqp_interface/package.xml +++ b/common/osqp_interface/package.xml @@ -11,8 +11,7 @@ Apache 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake eigen osqp_vendor diff --git a/common/osqp_interface/src/csc_matrix_conv.cpp b/common/osqp_interface/src/csc_matrix_conv.cpp index 051740e8974e..1944face4516 100644 --- a/common/osqp_interface/src/csc_matrix_conv.cpp +++ b/common/osqp_interface/src/csc_matrix_conv.cpp @@ -14,8 +14,8 @@ #include "osqp_interface/csc_matrix_conv.hpp" -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/SparseCore" +#include +#include #include #include diff --git a/common/osqp_interface/test/test_csc_matrix_conv.cpp b/common/osqp_interface/test/test_csc_matrix_conv.cpp index 50b8487c26d8..765f1a1afed3 100644 --- a/common/osqp_interface/test/test_csc_matrix_conv.cpp +++ b/common/osqp_interface/test/test_csc_matrix_conv.cpp @@ -12,10 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "eigen3/Eigen/Core" #include "gtest/gtest.h" #include "osqp_interface/csc_matrix_conv.hpp" +#include + #include #include #include diff --git a/common/osqp_interface/test/test_osqp_interface.cpp b/common/osqp_interface/test/test_osqp_interface.cpp index cf96f0164baf..caa89c79d08e 100644 --- a/common/osqp_interface/test/test_osqp_interface.cpp +++ b/common/osqp_interface/test/test_osqp_interface.cpp @@ -12,10 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "eigen3/Eigen/Core" #include "gtest/gtest.h" #include "osqp_interface/osqp_interface.hpp" +#include + #include #include diff --git a/common/path_distance_calculator/package.xml b/common/path_distance_calculator/package.xml index 997fbec2d4ef..b5e770a0ea62 100644 --- a/common/path_distance_calculator/package.xml +++ b/common/path_distance_calculator/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_planning_msgs motion_utils diff --git a/common/perception_utils/package.xml b/common/perception_utils/package.xml index 5d1fa5cae84a..bc1d1b8b6bec 100644 --- a/common/perception_utils/package.xml +++ b/common/perception_utils/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs geometry_msgs diff --git a/common/polar_grid/package.xml b/common/polar_grid/package.xml index 75118d09ef5d..ece156669c85 100644 --- a/common/polar_grid/package.xml +++ b/common/polar_grid/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake libqt5-core libqt5-gui diff --git a/common/rtc_manager_rviz_plugin/package.xml b/common/rtc_manager_rviz_plugin/package.xml index 6987e63c3c6e..53f00386bdb4 100644 --- a/common/rtc_manager_rviz_plugin/package.xml +++ b/common/rtc_manager_rviz_plugin/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake libqt5-core libqt5-gui diff --git a/common/signal_processing/package.xml b/common/signal_processing/package.xml index 042471134da0..a8aae198f5ec 100644 --- a/common/signal_processing/package.xml +++ b/common/signal_processing/package.xml @@ -11,9 +11,9 @@ Takayuki Murooka Ali BOYALI - autoware_cmake - libboost-dev ament_cmake_auto + autoware_cmake + libboost-dev geometry_msgs rclcpp libboost-dev diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/common/tier4_adapi_rviz_plugin/package.xml index a45a25898384..1645f30e43cd 100644 --- a/common/tier4_adapi_rviz_plugin/package.xml +++ b/common/tier4_adapi_rviz_plugin/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake libqt5-core libqt5-gui diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index bfbb36f9c50e..e8f0691a992d 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake rclcpp tier4_external_api_msgs diff --git a/common/tier4_automatic_goal_rviz_plugin/package.xml b/common/tier4_automatic_goal_rviz_plugin/package.xml index 11d263e09c78..deda078ace22 100644 --- a/common/tier4_automatic_goal_rviz_plugin/package.xml +++ b/common/tier4_automatic_goal_rviz_plugin/package.xml @@ -10,7 +10,7 @@ Dawid Moszyński ament_cmake_auto - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs geometry_msgs libqt5-core diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml index 9e648c49e067..1577f292e796 100644 --- a/common/tier4_autoware_utils/package.xml +++ b/common/tier4_autoware_utils/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs autoware_auto_planning_msgs diff --git a/common/tier4_calibration_rviz_plugin/package.xml b/common/tier4_calibration_rviz_plugin/package.xml index 2f8b13c4b979..f422847d8cb7 100644 --- a/common/tier4_calibration_rviz_plugin/package.xml +++ b/common/tier4_calibration_rviz_plugin/package.xml @@ -10,8 +10,7 @@ Tomoya Kimura ament_cmake_auto - - autoware_cmake + autoware_cmake libqt5-core libqt5-widgets diff --git a/common/tier4_control_rviz_plugin/package.xml b/common/tier4_control_rviz_plugin/package.xml index 6b765e065421..73562a766ce0 100644 --- a/common/tier4_control_rviz_plugin/package.xml +++ b/common/tier4_control_rviz_plugin/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_control_msgs autoware_auto_vehicle_msgs diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/common/tier4_datetime_rviz_plugin/package.xml index d3fd7dcde4e2..6dc0c09b32a3 100644 --- a/common/tier4_datetime_rviz_plugin/package.xml +++ b/common/tier4_datetime_rviz_plugin/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake libqt5-core libqt5-gui diff --git a/common/tier4_debug_rviz_plugin/package.xml b/common/tier4_debug_rviz_plugin/package.xml index bb1189c02555..45b73d5b9815 100644 --- a/common/tier4_debug_rviz_plugin/package.xml +++ b/common/tier4_debug_rviz_plugin/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake libqt5-core libqt5-gui diff --git a/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp b/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp index c2ff8cfca928..962fee8a370a 100644 --- a/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp +++ b/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp @@ -17,8 +17,8 @@ #define EIGEN_MPL2_ONLY -#include -#include +#include +#include #include #include diff --git a/common/tier4_debug_tools/package.xml b/common/tier4_debug_tools/package.xml index d4a01d67a173..b7e0952b7217 100644 --- a/common/tier4_debug_tools/package.xml +++ b/common/tier4_debug_tools/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_planning_msgs geometry_msgs diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml index 6ef58b8e84dc..e103db19f1d4 100644 --- a/common/tier4_localization_rviz_plugin/package.xml +++ b/common/tier4_localization_rviz_plugin/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake geometry_msgs libqt5-core diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp index 49a859e5c725..c4233bd6305e 100644 --- a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp +++ b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp @@ -23,8 +23,8 @@ #include #define EIGEN_MPL2_ONLY -#include -#include +#include +#include #include #include diff --git a/common/tier4_perception_rviz_plugin/package.xml b/common/tier4_perception_rviz_plugin/package.xml index bb130ceda42e..e6b022f730ef 100644 --- a/common/tier4_perception_rviz_plugin/package.xml +++ b/common/tier4_perception_rviz_plugin/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake dummy_perception_publisher libqt5-core diff --git a/common/tier4_planning_rviz_plugin/include/path/display_base.hpp b/common/tier4_planning_rviz_plugin/include/path/display_base.hpp index 5542f28f0c24..55c7a9c53d72 100644 --- a/common/tier4_planning_rviz_plugin/include/path/display_base.hpp +++ b/common/tier4_planning_rviz_plugin/include/path/display_base.hpp @@ -40,8 +40,8 @@ #include #define EIGEN_MPL2_ONLY -#include -#include +#include +#include #include namespace diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml index b4f49033c111..5dfa3605cfca 100644 --- a/common/tier4_planning_rviz_plugin/package.xml +++ b/common/tier4_planning_rviz_plugin/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_planning_msgs autoware_planning_msgs diff --git a/common/tier4_screen_capture_rviz_plugin/package.xml b/common/tier4_screen_capture_rviz_plugin/package.xml index 2f50771996ec..38479dc3c38e 100644 --- a/common/tier4_screen_capture_rviz_plugin/package.xml +++ b/common/tier4_screen_capture_rviz_plugin/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake libopencv-dev libqt5-core diff --git a/common/tier4_simulated_clock_rviz_plugin/package.xml b/common/tier4_simulated_clock_rviz_plugin/package.xml index d7fd09e57b0b..d80b18a5895b 100644 --- a/common/tier4_simulated_clock_rviz_plugin/package.xml +++ b/common/tier4_simulated_clock_rviz_plugin/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake libqt5-core libqt5-gui diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index 6923bc5647d8..06d57bd947af 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -9,8 +9,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_system_msgs diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp index 48bb671a49a2..ce21d7fefc79 100644 --- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp @@ -202,6 +202,7 @@ void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray:: velocity_factors_table_->setCellWidget(i, 3, label); } } + velocity_factors_table_->update(); } void VelocitySteeringFactorsPanel::onSteeringFactors(const SteeringFactorArray::ConstSharedPtr msg) @@ -317,6 +318,7 @@ void VelocitySteeringFactorsPanel::onSteeringFactors(const SteeringFactorArray:: steering_factors_table_->setCellWidget(i, 5, label); } } + steering_factors_table_->update(); } } // namespace rviz_plugins diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/common/tier4_traffic_light_rviz_plugin/package.xml index 214c2994e957..21d8bae8f6cf 100644 --- a/common/tier4_traffic_light_rviz_plugin/package.xml +++ b/common/tier4_traffic_light_rviz_plugin/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_auto_perception_msgs diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp index 8f8e92029957..e4fb0095b8d0 100644 --- a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp +++ b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp @@ -360,6 +360,7 @@ void TrafficLightPublishPanel::onTimer() traffic_table_->setCellWidget(i, 3, status_label); traffic_table_->setCellWidget(i, 4, confidence_label); } + traffic_table_->update(); } void TrafficLightPublishPanel::onVectorMap(const HADMapBin::ConstSharedPtr msg) diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/common/tier4_vehicle_rviz_plugin/package.xml index 15d6609248a4..f6c131fdc99f 100644 --- a/common/tier4_vehicle_rviz_plugin/package.xml +++ b/common/tier4_vehicle_rviz_plugin/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_vehicle_msgs libqt5-core diff --git a/common/time_utils/package.xml b/common/time_utils/package.xml index a248e72f125f..00832c1fd190 100644 --- a/common/time_utils/package.xml +++ b/common/time_utils/package.xml @@ -8,8 +8,8 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake - autoware_cmake builtin_interfaces ament_cmake_ros diff --git a/common/tvm_utility/package.xml b/common/tvm_utility/package.xml index 9bc64ff554a7..c4fbf1c25ac8 100644 --- a/common/tvm_utility/package.xml +++ b/common/tvm_utility/package.xml @@ -27,7 +27,7 @@ Xinyu Wang Apache License 2.0 - autoware_cmake + autoware_cmake ament_index_cpp libopenblas-dev diff --git a/control/autonomous_emergency_braking/package.xml b/control/autonomous_emergency_braking/package.xml index e4e7da168b23..4f2ad6c50a9b 100644 --- a/control/autonomous_emergency_braking/package.xml +++ b/control/autonomous_emergency_braking/package.xml @@ -3,14 +3,13 @@ autonomous_emergency_braking 0.1.0 - Autonomous Emergency Braking package as a ROS2 node + Autonomous Emergency Braking package as a ROS 2 node Yutaka Shimizu Takamasa Horibe Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_control_msgs autoware_auto_system_msgs diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp index 9934ce9b020f..529b31bd598f 100644 --- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp +++ b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp @@ -21,7 +21,7 @@ #include "control_performance_analysis/msg/float_stamped.hpp" #include "motion_utils/trajectory/trajectory.hpp" -#include +#include #include #include diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp index 019649927b5f..5a59af83d809 100644 --- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp +++ b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp @@ -15,8 +15,8 @@ #ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_ #define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_ -#include -#include +#include +#include #include #include diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml index 4c83864bf918..b0a660844e84 100644 --- a/control/control_performance_analysis/package.xml +++ b/control/control_performance_analysis/package.xml @@ -19,9 +19,9 @@ Berkay Karaman ament_cmake_auto + autoware_cmake rosidl_default_generators - autoware_cmake builtin_interfaces autoware_auto_control_msgs diff --git a/control/external_cmd_selector/package.xml b/control/external_cmd_selector/package.xml index f6ca2e165b08..1b27c9f07915 100644 --- a/control/external_cmd_selector/package.xml +++ b/control/external_cmd_selector/package.xml @@ -17,8 +17,7 @@ Kenji Miyake ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_vehicle_msgs diagnostic_updater diff --git a/control/joy_controller/package.xml b/control/joy_controller/package.xml index 7244c2432045..0c2defb2fc76 100644 --- a/control/joy_controller/package.xml +++ b/control/joy_controller/package.xml @@ -17,8 +17,7 @@ Kenji Miyake ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_control_msgs autoware_auto_vehicle_msgs diff --git a/control/lane_departure_checker/package.xml b/control/lane_departure_checker/package.xml index 0ade872d2ae0..617c391f2f28 100644 --- a/control/lane_departure_checker/package.xml +++ b/control/lane_departure_checker/package.xml @@ -10,8 +10,7 @@ Kenji Miyake ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_auto_planning_msgs diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp index b1b67e03f2ab..73603ec62ad8 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp @@ -15,12 +15,13 @@ #ifndef MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_ #define MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_ -#include "eigen3/Eigen/Core" #include "interpolation/linear_interpolation.hpp" #include "interpolation/spline_interpolation.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2/utils.h" +#include + #ifdef ROS_DISTRO_GALACTIC #include "tf2_geometry_msgs/tf2_geometry_msgs.h" #else diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp index a189ecc2ea7c..b73d43ec68e5 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp @@ -15,9 +15,9 @@ #ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_ #define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/Dense" -#include "eigen3/Eigen/LU" +#include +#include +#include namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp index 8b7158610b38..5258dc5f3f89 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp @@ -15,11 +15,12 @@ #ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_ #define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_ -#include "eigen3/Eigen/Dense" #include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" #include "osqp_interface/osqp_interface.hpp" #include "rclcpp/rclcpp.hpp" +#include + namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp index 0130cf6c4a27..692ae0c14a43 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp @@ -15,11 +15,12 @@ #ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_ #define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/Dense" -#include "eigen3/Eigen/LU" #include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" +#include +#include +#include + #include namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp index b167efe28d81..c35e39de67b4 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp @@ -47,10 +47,11 @@ #ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_ #define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#include +#include + namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp index 244ded818a1a..ea843afaf727 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp @@ -41,10 +41,11 @@ #ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ #define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#include +#include + namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp index 133c4df251fe..1dafb1e0bb65 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp @@ -38,10 +38,11 @@ #ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ #define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#include +#include + namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp index 36a5be08b29f..1bef540460a6 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp @@ -15,7 +15,7 @@ #ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ #define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ -#include "eigen3/Eigen/Core" +#include namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/mpc_lateral_controller/package.xml b/control/mpc_lateral_controller/package.xml index 04a80ef9d908..da03c4481e78 100644 --- a/control/mpc_lateral_controller/package.xml +++ b/control/mpc_lateral_controller/package.xml @@ -15,8 +15,7 @@ Takayuki Murooka ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_control_msgs autoware_auto_planning_msgs diff --git a/control/obstacle_collision_checker/package.xml b/control/obstacle_collision_checker/package.xml index e7a51abdac59..8a202ac68922 100644 --- a/control/obstacle_collision_checker/package.xml +++ b/control/obstacle_collision_checker/package.xml @@ -18,8 +18,7 @@ Satoshi Tanaka ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_planning_msgs boost diff --git a/control/operation_mode_transition_manager/package.xml b/control/operation_mode_transition_manager/package.xml index 86dc23b6c036..dbe9a21c1186 100644 --- a/control/operation_mode_transition_manager/package.xml +++ b/control/operation_mode_transition_manager/package.xml @@ -8,7 +8,7 @@ Takamasa Horibe - autoware_cmake + autoware_cmake rosidl_default_generators autoware_auto_control_msgs diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp index e918ee9836c9..5584e1e79e97 100644 --- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp +++ b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp @@ -15,12 +15,12 @@ #ifndef PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ #define PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/Geometry" #include "interpolation/linear_interpolation.hpp" #include "motion_utils/trajectory/trajectory.hpp" #include "tf2/utils.h" +#include +#include #include // NOLINT #include "autoware_auto_planning_msgs/msg/trajectory.hpp" diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp index 4112171633af..c2dbc67f011d 100644 --- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp +++ b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp @@ -16,8 +16,6 @@ #define PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_ #include "diagnostic_updater/diagnostic_updater.hpp" -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/Geometry" #include "pid_longitudinal_controller/debug_values.hpp" #include "pid_longitudinal_controller/longitudinal_controller_utils.hpp" #include "pid_longitudinal_controller/lowpass_filter.hpp" @@ -30,6 +28,9 @@ #include "trajectory_follower_base/longitudinal_controller_base.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" +#include +#include + #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp" #include "autoware_auto_control_msgs/msg/longitudinal_command.hpp" #include "autoware_auto_planning_msgs/msg/trajectory.hpp" diff --git a/control/pid_longitudinal_controller/package.xml b/control/pid_longitudinal_controller/package.xml index e8825eaab177..0c2da18f9185 100644 --- a/control/pid_longitudinal_controller/package.xml +++ b/control/pid_longitudinal_controller/package.xml @@ -15,8 +15,7 @@ Takayuki Murooka ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_control_msgs diff --git a/control/pure_pursuit/package.xml b/control/pure_pursuit/package.xml index d2b3ed292c7c..ef0810c695ea 100644 --- a/control/pure_pursuit/package.xml +++ b/control/pure_pursuit/package.xml @@ -12,8 +12,8 @@ Takamasa Horibe ament_cmake_auto + autoware_cmake - autoware_cmake autoware_auto_control_msgs autoware_auto_planning_msgs boost diff --git a/control/shift_decider/package.xml b/control/shift_decider/package.xml index c5bcfccb0ad4..b24dbab1786e 100644 --- a/control/shift_decider/package.xml +++ b/control/shift_decider/package.xml @@ -10,8 +10,7 @@ Takamasa Horibe ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_control_msgs autoware_auto_system_msgs diff --git a/control/trajectory_follower_base/package.xml b/control/trajectory_follower_base/package.xml index b3e6a53228fb..d896f874a3a2 100644 --- a/control/trajectory_follower_base/package.xml +++ b/control/trajectory_follower_base/package.xml @@ -17,8 +17,7 @@ Takayuki Murooka ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_control_msgs diff --git a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp index 6fc7a0cbedc5..4868fa7a6f51 100644 --- a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp +++ b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp @@ -15,8 +15,6 @@ #ifndef TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_ #define TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/Geometry" #include "rclcpp/rclcpp.hpp" #include "tf2/utils.h" #include "tf2_ros/buffer.h" @@ -26,6 +24,9 @@ #include "trajectory_follower_node/visibility_control.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" +#include +#include + #include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp" #include "autoware_auto_control_msgs/msg/longitudinal_command.hpp" #include "autoware_auto_planning_msgs/msg/trajectory.hpp" diff --git a/control/trajectory_follower_node/package.xml b/control/trajectory_follower_node/package.xml index 303df922a295..8673634e2405 100644 --- a/control/trajectory_follower_node/package.xml +++ b/control/trajectory_follower_node/package.xml @@ -17,8 +17,7 @@ Takayuki Murooka ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_control_msgs diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml index 92d6911c8f69..f2a3fc83e8d6 100644 --- a/control/vehicle_cmd_gate/package.xml +++ b/control/vehicle_cmd_gate/package.xml @@ -11,8 +11,7 @@ Hiroki OTA ament_cmake - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_control_msgs diff --git a/evaluator/diagnostic_converter/package.xml b/evaluator/diagnostic_converter/package.xml index c561cfcac6c6..be9266f39b6e 100644 --- a/evaluator/diagnostic_converter/package.xml +++ b/evaluator/diagnostic_converter/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake diagnostic_msgs pluginlib diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml index e761a53cb629..a83538cdb319 100644 --- a/evaluator/kinematic_evaluator/package.xml +++ b/evaluator/kinematic_evaluator/package.xml @@ -2,15 +2,14 @@ kinematic_evaluator 0.1.0 - kinematic evaluator ROS2 node + kinematic evaluator ROS 2 node Dominik Jargot Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs autoware_auto_planning_msgs diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml index 7f99d100233b..30b2bf0980fa 100644 --- a/evaluator/localization_evaluator/package.xml +++ b/evaluator/localization_evaluator/package.xml @@ -2,15 +2,14 @@ localization_evaluator 0.1.0 - localization evaluator ROS2 node + localization evaluator ROS 2 node Dominik Jargot Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs autoware_auto_planning_msgs diff --git a/evaluator/planning_evaluator/package.xml b/evaluator/planning_evaluator/package.xml index ef2bca288c8b..fb3270fb0d89 100644 --- a/evaluator/planning_evaluator/package.xml +++ b/evaluator/planning_evaluator/package.xml @@ -3,7 +3,7 @@ planning_evaluator 0.1.0 - ROS2 node for evaluating planners + ROS 2 node for evaluating planners Maxime CLEMENT Kyoichi Sugahara Apache License 2.0 @@ -11,8 +11,7 @@ Maxime CLEMENT ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs autoware_auto_planning_msgs diff --git a/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp b/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp index 46ad5c79b8b4..b9b86e6bd2d1 100644 --- a/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp +++ b/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp @@ -14,9 +14,10 @@ #include "planning_evaluator/metrics/obstacle_metrics.hpp" -#include "eigen3/Eigen/Core" #include "tier4_autoware_utils/tier4_autoware_utils.hpp" +#include + #include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" #include diff --git a/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp b/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp index 931764f5bb66..abd3ca558495 100644 --- a/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp +++ b/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp @@ -14,10 +14,11 @@ #include "planning_evaluator/metrics/stability_metrics.hpp" -#include "eigen3/Eigen/Core" #include "motion_utils/trajectory/trajectory.hpp" #include "tier4_autoware_utils/tier4_autoware_utils.hpp" +#include + #include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" #include diff --git a/launch/map4_localization_launch/package.xml b/launch/map4_localization_launch/package.xml index 9e93f8869c35..dc390a6a9086 100644 --- a/launch/map4_localization_launch/package.xml +++ b/launch/map4_localization_launch/package.xml @@ -13,8 +13,7 @@ Ryohei Sasaki ament_cmake_auto - - autoware_cmake + autoware_cmake automatic_pose_initializer eagleye_fix2pose diff --git a/launch/tier4_autoware_api_launch/README.md b/launch/tier4_autoware_api_launch/README.md index fe409160f8e5..2b3d6fc032d6 100644 --- a/launch/tier4_autoware_api_launch/README.md +++ b/launch/tier4_autoware_api_launch/README.md @@ -18,4 +18,4 @@ You can include as follows in `*.launch.xml` to use `autoware_api.launch.xml`. ## Notes -For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS2 (similar to Nodelet in ROS1 ) +For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS 2 (similar to Nodelet in ROS 1 ) diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index 55b57dbda5a7..bed0b9e58ca7 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -12,8 +12,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake ad_api_adaptors autoware_iv_external_api_adaptor diff --git a/launch/tier4_control_launch/README.md b/launch/tier4_control_launch/README.md index 2d2a6487986b..939b45626f3c 100644 --- a/launch/tier4_control_launch/README.md +++ b/launch/tier4_control_launch/README.md @@ -27,4 +27,4 @@ Note that you should provide parameter paths as `PACKAGE_param_path`. The list o ## Notes -For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS2 (similar to Nodelet in ROS1 ) +For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS 2 (similar to Nodelet in ROS 1 ) diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index c658b29ccd30..7a0945e00b21 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -347,7 +347,7 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("check_external_emergency_heartbeat") # component - add_launch_arg("use_intra_process", "false", "use ROS2 component container communication") + add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication") add_launch_arg("use_multithread", "false", "use multithread") set_container_executable = SetLaunchConfiguration( "container_executable", diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index 108e43915b26..4bfefa4d9374 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -9,8 +9,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake external_cmd_converter external_cmd_selector diff --git a/launch/tier4_localization_launch/launch/util/util.launch.py b/launch/tier4_localization_launch/launch/util/util.launch.py index dd58311afe2d..ef9f25e43cf9 100644 --- a/launch/tier4_localization_launch/launch/util/util.launch.py +++ b/launch/tier4_localization_launch/launch/util/util.launch.py @@ -114,7 +114,7 @@ def add_launch_arg(name: str, default_value=None, description=None): ], "path to the parameter file of random_downsample_filter", ) - add_launch_arg("use_intra_process", "true", "use ROS2 component container communication") + add_launch_arg("use_intra_process", "true", "use ROS 2 component container communication") add_launch_arg("use_pointcloud_container", "True", "use pointcloud container") add_launch_arg( "pointcloud_container_name", diff --git a/launch/tier4_localization_launch/launch/util/util.launch.xml b/launch/tier4_localization_launch/launch/util/util.launch.xml index 6e0cb19fe5e7..c1e0b4641256 100644 --- a/launch/tier4_localization_launch/launch/util/util.launch.xml +++ b/launch/tier4_localization_launch/launch/util/util.launch.xml @@ -9,7 +9,7 @@ - + diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 7c15e1be21be..5d060f884c01 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -12,8 +12,7 @@ Yamato Ando ament_cmake_auto - - autoware_cmake + autoware_cmake automatic_pose_initializer ekf_localizer diff --git a/launch/tier4_map_launch/README.md b/launch/tier4_map_launch/README.md index 5e98593a9bec..904f20f3a744 100644 --- a/launch/tier4_map_launch/README.md +++ b/launch/tier4_map_launch/README.md @@ -32,4 +32,4 @@ Note that you should provide parameter paths as `PACKAGE_param_path`. The list o ## Notes -For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS2 (similar to Nodelet in ROS1 ) +For reducing processing load, we use the [Component](https://docs.ros.org/en/galactic/Concepts/About-Composition.html) feature in ROS 2 (similar to Nodelet in ROS 1 ) diff --git a/launch/tier4_map_launch/launch/map.launch.py b/launch/tier4_map_launch/launch/map.launch.py index 955a8658e853..f9459be3b892 100644 --- a/launch/tier4_map_launch/launch/map.launch.py +++ b/launch/tier4_map_launch/launch/map.launch.py @@ -172,7 +172,7 @@ def add_launch_arg(name: str, default_value=None, description=None): None, "path to pointcloud_map_loader param file", ), - add_launch_arg("use_intra_process", "false", "use ROS2 component container communication"), + add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication"), add_launch_arg("use_multithread", "false", "use multithread"), set_container_executable = SetLaunchConfiguration( diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index b4e3303e23c5..6f7595083826 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake map_loader map_tf_generator diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 7beb8128d8aa..1140d643a708 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake compare_map_segmentation crosswalk_traffic_light_estimator diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 85cf24e92619..87481744fdaa 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -321,7 +321,7 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("use_experimental_lane_change_function") # component - add_launch_arg("use_intra_process", "false", "use ROS2 component container communication") + add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication") add_launch_arg("use_multithread", "false", "use multithread") # for points filter of run out module diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 03bf4479c813..bceb9aff0564 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -274,7 +274,7 @@ def add_launch_arg(name: str, default_value=None, description=None): "cruise_planner_type" ) # select from "obstacle_stop_planner", "obstacle_cruise_planner", "none" - add_launch_arg("use_intra_process", "false", "use ROS2 component container communication") + add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication") add_launch_arg("use_multithread", "false", "use multithread") set_container_executable = SetLaunchConfiguration( diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py index d56fecb4f6a0..7dfcbb0307bf 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.py @@ -136,7 +136,7 @@ def add_launch_arg(name: str, default_value=None, description=None): ) # component - add_launch_arg("use_intra_process", "false", "use ROS2 component container communication") + add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication") add_launch_arg("use_multithread", "false", "use multithread") set_container_executable = SetLaunchConfiguration( diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index c17e94a86568..69deacf4dfb7 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -52,8 +52,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake behavior_path_planner behavior_velocity_planner diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml index c35082aa7c1b..a1f10ee743db 100644 --- a/launch/tier4_sensing_launch/package.xml +++ b/launch/tier4_sensing_launch/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake vehicle_info_util diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index 8094f95d78b1..f08d0737b8c4 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -12,8 +12,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake dummy_perception_publisher fault_injection diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index c301c17137b9..5e3fc3ff061f 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -10,8 +10,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake component_state_monitor emergency_handler diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index 501316732d67..779975d3e1ae 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake robot_state_publisher xacro diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index 129798e0e8b5..4826b6daa17f 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -12,9 +12,9 @@ Takamasa Horibe ament_cmake_auto + autoware_cmake eigen3_cmake_module - autoware_cmake eigen fmt diff --git a/localization/ekf_localizer/test/src/test_ekf_localizer.cpp b/localization/ekf_localizer/test/src/test_ekf_localizer.cpp index ceb9d520a75b..f249dffef603 100644 --- a/localization/ekf_localizer/test/src/test_ekf_localizer.cpp +++ b/localization/ekf_localizer/test/src/test_ekf_localizer.cpp @@ -14,8 +14,8 @@ #include "ekf_localizer/ekf_localizer.hpp" -#include -#include +#include +#include #include #include diff --git a/localization/gyro_odometer/package.xml b/localization/gyro_odometer/package.xml index 5aa85a8c4afe..26781513ff2f 100644 --- a/localization/gyro_odometer/package.xml +++ b/localization/gyro_odometer/package.xml @@ -3,14 +3,13 @@ gyro_odometer 0.1.0 - The gyro_odometer package as a ROS2 node + The gyro_odometer package as a ROS 2 node Yamato Ando Apache License 2.0 Yamato Ando ament_cmake_auto - - autoware_cmake + autoware_cmake fmt geometry_msgs diff --git a/localization/initial_pose_button_panel/package.xml b/localization/initial_pose_button_panel/package.xml index f71486a2f337..2db87fe645fb 100644 --- a/localization/initial_pose_button_panel/package.xml +++ b/localization/initial_pose_button_panel/package.xml @@ -10,8 +10,7 @@ Yamato ANDO ament_cmake_auto - - autoware_cmake + autoware_cmake geometry_msgs libqt5-core diff --git a/localization/localization_error_monitor/package.xml b/localization/localization_error_monitor/package.xml index f8a2a69a0155..4c563f0b30ab 100644 --- a/localization/localization_error_monitor/package.xml +++ b/localization/localization_error_monitor/package.xml @@ -10,8 +10,7 @@ Taichi Higashide ament_cmake_auto - - autoware_cmake + autoware_cmake diagnostic_msgs diagnostic_updater diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/matrix_type.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/matrix_type.hpp index a83e8db02f52..038ed4549eb2 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/matrix_type.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/matrix_type.hpp @@ -15,7 +15,7 @@ #ifndef NDT_SCAN_MATCHER__MATRIX_TYPE_HPP_ #define NDT_SCAN_MATCHER__MATRIX_TYPE_HPP_ -#include +#include using Matrix6d = Eigen::Matrix; using RowMatrixXd = Eigen::Matrix; diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml index 581879322caf..17db6b17d4a4 100644 --- a/localization/ndt_scan_matcher/package.xml +++ b/localization/ndt_scan_matcher/package.xml @@ -11,8 +11,7 @@ Yamato Ando ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_map_msgs diagnostic_msgs diff --git a/localization/pose2twist/package.xml b/localization/pose2twist/package.xml index 9425983d5b97..ed044bd28590 100644 --- a/localization/pose2twist/package.xml +++ b/localization/pose2twist/package.xml @@ -9,8 +9,7 @@ Yamato Ando ament_cmake - - autoware_cmake + autoware_cmake geometry_msgs rclcpp diff --git a/localization/pose_initializer/package.xml b/localization/pose_initializer/package.xml index de9b54dddecd..cb519c49e633 100644 --- a/localization/pose_initializer/package.xml +++ b/localization/pose_initializer/package.xml @@ -11,8 +11,7 @@ Takagi, Isamu ament_cmake - - autoware_cmake + autoware_cmake component_interface_specs component_interface_utils diff --git a/localization/stop_filter/package.xml b/localization/stop_filter/package.xml index c547a90381d9..b0beeb475895 100644 --- a/localization/stop_filter/package.xml +++ b/localization/stop_filter/package.xml @@ -10,8 +10,7 @@ Koji Minoda ament_cmake_auto - - autoware_cmake + autoware_cmake geometry_msgs nav_msgs diff --git a/localization/twist2accel/package.xml b/localization/twist2accel/package.xml index 8b25f5909675..dc54311b3a1d 100644 --- a/localization/twist2accel/package.xml +++ b/localization/twist2accel/package.xml @@ -10,8 +10,7 @@ Koji Minoda ament_cmake_auto - - autoware_cmake + autoware_cmake geometry_msgs nav_msgs diff --git a/map/map_height_fitter/package.xml b/map/map_height_fitter/package.xml index dfb6a88944fc..ab4f5ce20538 100644 --- a/map/map_height_fitter/package.xml +++ b/map/map_height_fitter/package.xml @@ -10,8 +10,7 @@ Takagi, Isamu ament_cmake - - autoware_cmake + autoware_cmake autoware_map_msgs geometry_msgs diff --git a/map/map_loader/README.md b/map/map_loader/README.md index ebb63315ff85..10d94b87893a 100644 --- a/map/map_loader/README.md +++ b/map/map_loader/README.md @@ -134,7 +134,7 @@ The node projects lan/lon coordinates into MGRS coordinates. ### Feature -lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messages into visualization_msgs/MarkerArray. There are 3 types of map can be loaded in autoware. Please makesure you selected the correct lanelet2_map_projector_type when you launch this package. +lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messages into visualization_msgs/MarkerArray. There are 3 types of map can be loaded in autoware. Please make sure you selected the correct lanelet2_map_projector_type when you launch this package. - MGRS - UTM @@ -159,5 +159,5 @@ lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messa | lanelet2_map_projector_type | std::string | The type of the map projector using, can be MGRS, UTM, local | MGRS | | latitude | double | Latitude of map_origin, only using in UTM map projector | 0.0 | | longitude | double | Longitude of map_origin, only using in UTM map projector | 0.0 | -| center_line_resolution | double | Define the reolution of the lanelet center line | 5.0 | +| center_line_resolution | double | Define the resolution of the lanelet center line | 5.0 | | lanelet2_map_path | std::string | The lanelet2 map path | None | diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml index 4fa5cc415679..22cccc16f537 100644 --- a/map/map_loader/package.xml +++ b/map/map_loader/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_map_msgs diff --git a/map/map_tf_generator/package.xml b/map/map_tf_generator/package.xml index 201d7c6c99c0..6dc68911699a 100644 --- a/map/map_tf_generator/package.xml +++ b/map/map_tf_generator/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake lanelet2_extension libpcl-all-dev diff --git a/map/util/lanelet2_map_preprocessor/package.xml b/map/util/lanelet2_map_preprocessor/package.xml index 216dffe81744..15f061369e64 100644 --- a/map/util/lanelet2_map_preprocessor/package.xml +++ b/map/util/lanelet2_map_preprocessor/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake lanelet2_extension pcl_ros diff --git a/mkdocs.yaml b/mkdocs.yaml index d448ab04c9a4..bf7d2569d83b 100644 --- a/mkdocs.yaml +++ b/mkdocs.yaml @@ -1,9 +1,9 @@ site_name: Autoware Universe Documentation site_url: https://autowarefoundation.github.io/autoware.universe repo_url: https://github.com/autowarefoundation/autoware.universe -edit_uri: edit/main/ +edit_uri: https://github.com/autowarefoundation/autoware.universe/edit/main/ docs_dir: . -copyright: Copyright © 2022 The Autoware Foundation +copyright: Copyright © 2023 The Autoware Foundation theme: name: material @@ -54,10 +54,12 @@ plugins: - ^(?!(.*/)?assets/).*\.(?!(.*\.)?md|(.*\.)?svg|(.*\.)?png|(.*\.)?gif|(.*\.)?jpg).*$ - ^(.*/)?[^.]*$ - macros + - mkdocs-video - same-dir - search markdown_extensions: + - abbr - admonition - attr_list - codehilite: @@ -72,7 +74,14 @@ markdown_extensions: server: http://www.plantuml.com/plantuml format: svg - pymdownx.arithmatex + - pymdownx.details + - pymdownx.emoji: + emoji_index: !!python/name:materialx.emoji.twemoji + emoji_generator: !!python/name:materialx.emoji.to_svg - pymdownx.highlight + - pymdownx.snippets: + auto_append: + - includes/abbreviations.md - pymdownx.superfences: custom_fences: - name: mermaid @@ -80,3 +89,4 @@ markdown_extensions: format: !!python/name:pymdownx.superfences.fence_code_format - toc: permalink: "#" + toc_depth: 3 diff --git a/perception/bytetrack/CMakeLists.txt b/perception/bytetrack/CMakeLists.txt index 3e3d520eef14..e481464455a5 100644 --- a/perception/bytetrack/CMakeLists.txt +++ b/perception/bytetrack/CMakeLists.txt @@ -29,6 +29,7 @@ target_include_directories(bytetrack_lib $ $ ) +target_link_libraries(bytetrack_lib Eigen3::Eigen) # # ROS node diff --git a/perception/bytetrack/lib/include/data_type.h b/perception/bytetrack/lib/include/data_type.h index d76baa894563..896e021538ca 100644 --- a/perception/bytetrack/lib/include/data_type.h +++ b/perception/bytetrack/lib/include/data_type.h @@ -38,8 +38,8 @@ #pragma once -#include -#include +#include +#include #include #include diff --git a/perception/bytetrack/lib/src/kalman_filter.cpp b/perception/bytetrack/lib/src/kalman_filter.cpp index bc1a88ff60b0..e515450858d8 100644 --- a/perception/bytetrack/lib/src/kalman_filter.cpp +++ b/perception/bytetrack/lib/src/kalman_filter.cpp @@ -38,7 +38,7 @@ #include "kalman_filter.h" -#include +#include namespace byte_kalman { diff --git a/perception/bytetrack/package.xml b/perception/bytetrack/package.xml index 3968d6cb97f7..6b3891438c17 100644 --- a/perception/bytetrack/package.xml +++ b/perception/bytetrack/package.xml @@ -8,13 +8,12 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake cudnn_cmake_module cudnn_cmake_module tensorrt_cmake_module - autoware_cmake - autoware_auto_perception_msgs cuda_utils cv_bridge diff --git a/perception/compare_map_segmentation/package.xml b/perception/compare_map_segmentation/package.xml index bd2bccf69ebf..fc6806ddaa84 100644 --- a/perception/compare_map_segmentation/package.xml +++ b/perception/compare_map_segmentation/package.xml @@ -15,8 +15,7 @@ William Woodall ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_map_msgs component_interface_specs diff --git a/perception/crosswalk_traffic_light_estimator/package.xml b/perception/crosswalk_traffic_light_estimator/package.xml index d4147643eb7b..1a3b90f617f4 100644 --- a/perception/crosswalk_traffic_light_estimator/package.xml +++ b/perception/crosswalk_traffic_light_estimator/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_auto_perception_msgs diff --git a/perception/detected_object_feature_remover/package.xml b/perception/detected_object_feature_remover/package.xml index b609ff0257f1..44571a3c18dd 100644 --- a/perception/detected_object_feature_remover/package.xml +++ b/perception/detected_object_feature_remover/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs rclcpp diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml index a2d82f0facd1..a63ecdec8cc4 100644 --- a/perception/detected_object_validation/package.xml +++ b/perception/detected_object_validation/package.xml @@ -3,15 +3,15 @@ detected_object_validation 1.0.0 - The ROS2 detected_object_validation package + The ROS 2 detected_object_validation package Yukihiro Saito Shunsuke Miura Apache License 2.0 ament_cmake_auto + autoware_cmake eigen3_cmake_module - autoware_cmake libopencv-dev autoware_auto_mapping_msgs diff --git a/perception/detection_by_tracker/package.xml b/perception/detection_by_tracker/package.xml index 55398adef1e7..44d62e37e958 100644 --- a/perception/detection_by_tracker/package.xml +++ b/perception/detection_by_tracker/package.xml @@ -3,16 +3,15 @@ detection_by_tracker 1.0.0 - The ROS2 detection_by_tracker package + The ROS 2 detection_by_tracker package Yukihiro Saito Yoshi Ri Apache License 2.0 ament_cmake_auto + autoware_cmake eigen3_cmake_module - autoware_cmake - eigen euclidean_cluster libpcl-all-dev diff --git a/perception/elevation_map_loader/package.xml b/perception/elevation_map_loader/package.xml index 0e2ea81f9f28..6e271b8528c4 100644 --- a/perception/elevation_map_loader/package.xml +++ b/perception/elevation_map_loader/package.xml @@ -9,8 +9,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_map_msgs diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py index 3f5e0ab62449..20a9c3cc89a8 100644 --- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py +++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py @@ -51,7 +51,7 @@ def load_composable_node_param(param_path): parameters=[load_composable_node_param("compare_map_param_path")], ) - # separate range of poincloud when map_filter used + # separate range of pointcloud when map_filter used use_map_short_range_crop_box_filter_component = ComposableNode( package="pointcloud_preprocessor", namespace=ns, diff --git a/perception/euclidean_cluster/package.xml b/perception/euclidean_cluster/package.xml index d99c923d9192..56be3c3fc5bc 100644 --- a/perception/euclidean_cluster/package.xml +++ b/perception/euclidean_cluster/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs compare_map_segmentation diff --git a/perception/front_vehicle_velocity_estimator/package.xml b/perception/front_vehicle_velocity_estimator/package.xml index 32cf88555804..3b1af8cf544a 100644 --- a/perception/front_vehicle_velocity_estimator/package.xml +++ b/perception/front_vehicle_velocity_estimator/package.xml @@ -10,6 +10,7 @@ Satoshi Tanaka ament_cmake_auto + autoware_cmake autoware_auto_perception_msgs geometry_msgs @@ -22,7 +23,6 @@ sensor_msgs tier4_autoware_utils - autoware_cmake ament_lint_auto autoware_lint_common diff --git a/perception/ground_segmentation/package.xml b/perception/ground_segmentation/package.xml index cdbab9ee5bd6..c44f30aa0899 100644 --- a/perception/ground_segmentation/package.xml +++ b/perception/ground_segmentation/package.xml @@ -3,7 +3,7 @@ ground_segmentation 0.1.0 - The ROS2 ground_segmentation package + The ROS 2 ground_segmentation package amc-nu Yukihiro Saito Shunsuke Miura @@ -16,8 +16,7 @@ William Woodall ament_cmake_auto - - autoware_cmake + autoware_cmake libopencv-dev pcl_conversions diff --git a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp index bdc01106899f..4b2e81d272e3 100644 --- a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp @@ -244,7 +244,7 @@ void RayGroundFilterComponent::ClassifyPointCloud( } } -// [ROS2-port]: removed +// [ROS 2-port]: removed // bool RayGroundFilterComponent::child_init() // { // // Enable the dynamic reconfigure service diff --git a/perception/heatmap_visualizer/package.xml b/perception/heatmap_visualizer/package.xml index 7578fe4ba2df..0a7db1ae4278 100644 --- a/perception/heatmap_visualizer/package.xml +++ b/perception/heatmap_visualizer/package.xml @@ -9,8 +9,7 @@ Kotaro Uetake ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs geometry_msgs diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml index e2b141542b92..ef2c4644ae44 100644 --- a/perception/image_projection_based_fusion/package.xml +++ b/perception/image_projection_based_fusion/package.xml @@ -9,8 +9,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs cv_bridge diff --git a/perception/lidar_apollo_instance_segmentation/README.md b/perception/lidar_apollo_instance_segmentation/README.md index 43ecae088013..2d86b695d247 100644 --- a/perception/lidar_apollo_instance_segmentation/README.md +++ b/perception/lidar_apollo_instance_segmentation/README.md @@ -140,4 +140,4 @@ Supported lidars are velodyne 16, 64 and 128, but you can also use velodyne 32 a - [Apollo Project](https://github.com/ApolloAuto/apollo) - [lewes6369](https://github.com/lewes6369) - [Autoware Foundation](https://github.com/autowarefoundation/autoware) -- [Kosuke Takeuchi](https://github.com/kosuke55) (TierIV Part timer) +- [Kosuke Takeuchi](https://github.com/kosuke55) (TIER IV) diff --git a/perception/lidar_apollo_segmentation_tvm/package.xml b/perception/lidar_apollo_segmentation_tvm/package.xml index 8dd64a199e0a..f4f283abe945 100755 --- a/perception/lidar_apollo_segmentation_tvm/package.xml +++ b/perception/lidar_apollo_segmentation_tvm/package.xml @@ -9,8 +9,8 @@ Apache 2.0 ament_cmake_auto + autoware_cmake - autoware_cmake libpcl-all-dev autoware_auto_perception_msgs diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/package.xml b/perception/lidar_apollo_segmentation_tvm_nodes/package.xml index b43cb23effcd..b6c6cb261eb2 100755 --- a/perception/lidar_apollo_segmentation_tvm_nodes/package.xml +++ b/perception/lidar_apollo_segmentation_tvm_nodes/package.xml @@ -10,8 +10,7 @@ ament_cmake ament_cmake_auto - - autoware_cmake + autoware_cmake lidar_apollo_segmentation_tvm rclcpp diff --git a/perception/lidar_centerpoint/package.xml b/perception/lidar_centerpoint/package.xml index 879013189b24..49f51a648dcf 100644 --- a/perception/lidar_centerpoint/package.xml +++ b/perception/lidar_centerpoint/package.xml @@ -10,8 +10,7 @@ ament_cmake_auto ament_cmake_python - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs pcl_ros diff --git a/perception/lidar_centerpoint_tvm/package.xml b/perception/lidar_centerpoint_tvm/package.xml index 22c4bd65ee65..058db088ef33 100644 --- a/perception/lidar_centerpoint_tvm/package.xml +++ b/perception/lidar_centerpoint_tvm/package.xml @@ -9,8 +9,7 @@ Apache 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs pcl_ros diff --git a/perception/map_based_prediction/package.xml b/perception/map_based_prediction/package.xml index d5e31348e0a5..33abfe814c49 100644 --- a/perception/map_based_prediction/package.xml +++ b/perception/map_based_prediction/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs interpolation diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml index f924b73f6491..b8732b656187 100644 --- a/perception/multi_object_tracker/package.xml +++ b/perception/multi_object_tracker/package.xml @@ -3,16 +3,15 @@ multi_object_tracker 1.0.0 - The ROS2 multi_object_tracker package + The ROS 2 multi_object_tracker package Yukihiro Saito Yoshi Ri Apache License 2.0 ament_cmake_auto + autoware_cmake eigen3_cmake_module - autoware_cmake - autoware_auto_perception_msgs eigen kalman_filter diff --git a/perception/object_merger/package.xml b/perception/object_merger/package.xml index c35b3f837f36..927f5c69f54e 100644 --- a/perception/object_merger/package.xml +++ b/perception/object_merger/package.xml @@ -9,10 +9,9 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake eigen3_cmake_module - autoware_cmake - autoware_auto_perception_msgs eigen mussp diff --git a/perception/object_range_splitter/package.xml b/perception/object_range_splitter/package.xml index 9a2ac13b3511..d2bb2b401fb2 100644 --- a/perception/object_range_splitter/package.xml +++ b/perception/object_range_splitter/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs rclcpp diff --git a/perception/occupancy_grid_map_outlier_filter/package.xml b/perception/occupancy_grid_map_outlier_filter/package.xml index 26d2a8634043..07820d5625fc 100644 --- a/perception/occupancy_grid_map_outlier_filter/package.xml +++ b/perception/occupancy_grid_map_outlier_filter/package.xml @@ -3,7 +3,7 @@ occupancy_grid_map_outlier_filter 0.1.0 - The ROS2 occupancy_grid_map_outlier_filter package + The ROS 2 occupancy_grid_map_outlier_filter package amc-nu Yukihiro Saito Yoshi Ri @@ -15,8 +15,7 @@ William Woodall ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_vehicle_msgs diagnostic_updater diff --git a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp index fd12d7529bcc..31e6fd8cce8f 100644 --- a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp @@ -17,8 +17,8 @@ #include "updater/occupancy_grid_map_updater_interface.hpp" -#include -#include +#include +#include namespace costmap_2d { diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml index d3b5c71b652d..2bd3a9aa8133 100644 --- a/perception/probabilistic_occupancy_grid_map/package.xml +++ b/perception/probabilistic_occupancy_grid_map/package.xml @@ -11,8 +11,7 @@ Yukihiro Saito ament_cmake_auto - - autoware_cmake + autoware_cmake eigen3_cmake_module laser_geometry diff --git a/perception/radar_fusion_to_detected_object/package.xml b/perception/radar_fusion_to_detected_object/package.xml index f7c7e10062e7..21641be7b3b7 100644 --- a/perception/radar_fusion_to_detected_object/package.xml +++ b/perception/radar_fusion_to_detected_object/package.xml @@ -10,6 +10,7 @@ Satoshi Tanaka ament_cmake_auto + autoware_cmake autoware_auto_perception_msgs eigen @@ -20,7 +21,6 @@ std_msgs tier4_autoware_utils - autoware_cmake ament_lint_common autoware_lint_common diff --git a/perception/radar_tracks_msgs_converter/package.xml b/perception/radar_tracks_msgs_converter/package.xml index 84ee931b7950..4092125cde33 100644 --- a/perception/radar_tracks_msgs_converter/package.xml +++ b/perception/radar_tracks_msgs_converter/package.xml @@ -10,6 +10,7 @@ Satoshi Tanaka ament_cmake_auto + autoware_cmake autoware_auto_perception_msgs geometry_msgs @@ -22,7 +23,6 @@ tf2_ros tier4_autoware_utils - autoware_cmake ament_lint_auto autoware_lint_common diff --git a/perception/shape_estimation/package.xml b/perception/shape_estimation/package.xml index 0c4a2ae9aa15..334b6cc2af12 100644 --- a/perception/shape_estimation/package.xml +++ b/perception/shape_estimation/package.xml @@ -3,14 +3,13 @@ shape_estimation 0.1.0 - This package implements a shape estimation algorithm as a ROS2 node + This package implements a shape estimation algorithm as a ROS 2 node Yukihiro Saito Yoshi Ri Apache License 2.0 ament_cmake - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs builtin_interfaces diff --git a/perception/tensorrt_yolo/package.xml b/perception/tensorrt_yolo/package.xml index 68ca942435e0..8a6756449b70 100755 --- a/perception/tensorrt_yolo/package.xml +++ b/perception/tensorrt_yolo/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs cv_bridge diff --git a/perception/tensorrt_yolox/package.xml b/perception/tensorrt_yolox/package.xml index 09b36fa768bd..9f107363d6f5 100644 --- a/perception/tensorrt_yolox/package.xml +++ b/perception/tensorrt_yolox/package.xml @@ -11,14 +11,13 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake cudnn_cmake_module tensorrt_cmake_module cudnn_cmake_module tensorrt_cmake_module - autoware_cmake - autoware_auto_perception_msgs cuda_utils cv_bridge diff --git a/perception/traffic_light_classifier/package.xml b/perception/traffic_light_classifier/package.xml index 923de8c43bd3..2f7b07962a23 100644 --- a/perception/traffic_light_classifier/package.xml +++ b/perception/traffic_light_classifier/package.xml @@ -9,10 +9,9 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake wget - autoware_cmake - autoware_auto_perception_msgs cv_bridge image_transport diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml index 46220572ae9a..3b19413e5ecd 100644 --- a/perception/traffic_light_map_based_detector/package.xml +++ b/perception/traffic_light_map_based_detector/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_auto_perception_msgs diff --git a/perception/traffic_light_selector/package.xml b/perception/traffic_light_selector/package.xml index 62374ddb7c0b..75796ac3cd71 100644 --- a/perception/traffic_light_selector/package.xml +++ b/perception/traffic_light_selector/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_auto_perception_msgs diff --git a/perception/traffic_light_ssd_fine_detector/README.md b/perception/traffic_light_ssd_fine_detector/README.md index cf32c027e6af..ffc135c76d37 100644 --- a/perception/traffic_light_ssd_fine_detector/README.md +++ b/perception/traffic_light_ssd_fine_detector/README.md @@ -12,7 +12,7 @@ The model is based on [pytorch-ssd](https://github.com/qfgaohao/pytorch-ssd) and ### Training Data -The model was fine-tuned on 1750 TierIV internal images of Japanese traffic lights. +The model was fine-tuned on 1750 TIER IV internal images of Japanese traffic lights. ### Trained Onnx model diff --git a/perception/traffic_light_ssd_fine_detector/package.xml b/perception/traffic_light_ssd_fine_detector/package.xml index 95ce29227b6f..49f67d171295 100644 --- a/perception/traffic_light_ssd_fine_detector/package.xml +++ b/perception/traffic_light_ssd_fine_detector/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs cv_bridge diff --git a/perception/traffic_light_visualization/package.xml b/perception/traffic_light_visualization/package.xml index f16ddba51989..d90cf992b96b 100644 --- a/perception/traffic_light_visualization/package.xml +++ b/perception/traffic_light_visualization/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_perception_msgs cv_bridge diff --git a/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml b/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml index 5a840098e595..3c5846edf3ee 100644 --- a/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml +++ b/planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml @@ -1,96 +1,108 @@ /**: ros__parameters: goal_planner: + # general params minimum_request_length: 100.0 th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. - pull_over_velocity: 3.0 - pull_over_minimum_velocity: 1.38 - margin_from_boundary: 0.5 - decide_path_distance: 10.0 - maximum_deceleration: 1.0 - maximum_jerk: 1.0 + # goal search - search_priority: "efficient_path" # "efficient_path" or "close_goal" - parking_policy: "left_side" # "left_side" or "right_side" - forward_goal_search_length: 20.0 - backward_goal_search_length: 20.0 - goal_search_interval: 2.0 - longitudinal_margin: 3.0 - max_lateral_offset: 0.5 - lateral_offset_interval: 0.25 - ignore_distance_from_lane_start: 15.0 + goal_search: + search_priority: "efficient_path" # "efficient_path" or "close_goal" + parking_policy: "left_side" # "left_side" or "right_side" + forward_goal_search_length: 20.0 + backward_goal_search_length: 20.0 + goal_search_interval: 2.0 + longitudinal_margin: 3.0 + max_lateral_offset: 0.5 + lateral_offset_interval: 0.25 + ignore_distance_from_lane_start: 15.0 + margin_from_boundary: 0.5 + # occupancy grid map - use_occupancy_grid: true - use_occupancy_grid_for_longitudinal_margin: false - occupancy_grid_collision_check_margin: 0.0 - theta_size: 360 - obstacle_threshold: 60 + occupancy_grid: + use_occupancy_grid: true + use_occupancy_grid_for_longitudinal_margin: false + occupancy_grid_collision_check_margin: 0.0 + theta_size: 360 + obstacle_threshold: 60 + # object recognition - use_object_recognition: true - object_recognition_collision_check_margin: 1.0 - # shift path - enable_shift_parking: true - pull_over_sampling_num: 4 - maximum_lateral_jerk: 2.0 - minimum_lateral_jerk: 0.5 - deceleration_interval: 15.0 - after_pull_over_straight_distance: 1.0 - # freespace parking - enable_freespace_parking: true - freespace_parking: - planning_algorithm: "astar" # options: astar, rrtstar - velocity: 1.0 - vehicle_shape_margin: 1.0 - time_limit: 3000.0 - minimum_turning_radius: 5.0 - maximum_turning_radius: 5.0 - turning_radius_size: 1 - # search configs - theta_size: 144 - angle_goal_range: 6.0 - curve_weight: 1.2 - reverse_weight: 1.0 - lateral_goal_range: 0.5 - longitudinal_goal_range: 2.0 - # costmap configs - obstacle_threshold: 30 - # -- A* search Configurations -- - astar: - only_behind_solutions: false - use_back: false - distance_heuristic_weight: 1.0 - # -- RRT* search Configurations -- - rrtstar: - enable_update: true - use_informed_sampling: true - max_planning_time: 150.0 - neighbor_radius: 8.0 - margin: 1.0 - # parallel parking path - enable_arc_forward_parking: true - enable_arc_backward_parking: true - after_forward_parking_straight_distance: 2.0 - after_backward_parking_straight_distance: 2.0 - forward_parking_velocity: 1.38 - backward_parking_velocity: -1.38 - forward_parking_lane_departure_margin: 0.0 - backward_parking_lane_departure_margin: 0.0 - arc_path_interval: 1.0 - pull_over_max_steer_angle: 0.35 # 20deg - # hazard on when parked - hazard_on_threshold_distance: 1.0 - hazard_on_threshold_velocity: 0.5 - # check safety with dynamic objects. Not used now. - pull_over_duration: 2.0 - pull_over_prepare_duration: 4.0 - min_stop_distance: 5.0 - stop_time: 2.0 - hysteresis_buffer_distance: 2.0 - prediction_time_resolution: 0.5 - enable_collision_check_at_prepare_phase: false - use_predicted_path_outside_lanelet: false - use_all_predicted_path: false + object_recognition: + use_object_recognition: true + object_recognition_collision_check_margin: 1.0 + + # pull over + pull_over: + pull_over_velocity: 3.0 + pull_over_minimum_velocity: 1.38 + decide_path_distance: 10.0 + maximum_deceleration: 1.0 + maximum_jerk: 1.0 + + # shift parking + shift_parking: + enable_shift_parking: true + shift_sampling_num: 4 + maximum_lateral_jerk: 2.0 + minimum_lateral_jerk: 0.5 + deceleration_interval: 15.0 + after_shift_straight_distance: 1.0 + + # parallel parking path + parallel_parking: + path_interval: 1.0 + max_steer_angle: 0.35 # 20deg + forward: + enable_arc_forward_parking: true + after_forward_parking_straight_distance: 2.0 + forward_parking_velocity: 1.38 + forward_parking_lane_departure_margin: 0.0 + forward_parking_path_interval: 1.0 + forward_parking_max_steer_angle: 0.35 # 20deg + backward: + enable_arc_backward_parking: true + after_backward_parking_straight_distance: 2.0 + backward_parking_velocity: -1.38 + backward_parking_lane_departure_margin: 0.0 + backward_parking_path_interval: 1.0 + backward_parking_max_steer_angle: 0.35 # 20deg + + # freespace parking + freespace_parking: + enable_freespace_parking: true + freespace_parking_algorithm: "astar" # options: astar, rrtstar + velocity: 1.0 + vehicle_shape_margin: 1.0 + time_limit: 3000.0 + minimum_turning_radius: 5.0 + maximum_turning_radius: 5.0 + turning_radius_size: 1 + # search configs + search_configs: + theta_size: 144 + angle_goal_range: 6.0 + curve_weight: 1.2 + reverse_weight: 1.0 + lateral_goal_range: 0.5 + longitudinal_goal_range: 2.0 + # costmap configs + costmap_configs: + obstacle_threshold: 30 + # -- A* search Configurations -- + astar: + only_behind_solutions: false + use_back: false + distance_heuristic_weight: 1.0 + # -- RRT* search Configurations -- + rrtstar: + enable_update: true + use_informed_sampling: true + max_planning_time: 150.0 + neighbor_radius: 8.0 + margin: 1.0 + # debug - print_debug_info: false + debug: + print_debug_info: false diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md index 06f81758f163..d92754608915 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md @@ -153,14 +153,14 @@ The lateral jerk is searched for among the predetermined minimum and maximum val #### Parameters for shift parking -| Name | Unit | Type | Description | Default value | -| :-------------------------------- | :----- | :----- | :------------------------------------------------------------------ | :------------ | -| enable_shift_parking | [-] | bool | flag whether to enable shift parking | true | -| pull_over_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 | -| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 | -| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.5 | -| deceleration_interval | [m] | double | distance of deceleration section | 15.0 | -| after_pull_over_straight_distance | [m] | double | straight line distance after pull over end point | 5.0 | +| Name | Unit | Type | Description | Default value | +| :---------------------------- | :----- | :----- | :------------------------------------------------------------------ | :------------ | +| enable_shift_parking | [-] | bool | flag whether to enable shift parking | true | +| shift_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 | +| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 | +| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.5 | +| deceleration_interval | [m] | double | distance of deceleration section | 15.0 | +| after_shift_straight_distance | [m] | double | straight line distance after pull over end point | 5.0 | ### **geometric parallel parking** diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md index e69de29bb2d1..12a757649304 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md @@ -0,0 +1 @@ +# Interface design diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp index be7f4c69f5c5..037c470c23dc 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp @@ -185,12 +185,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node void onLateralOffset(const LateralOffset::ConstSharedPtr msg); SetParametersResult onSetParam(const std::vector & parameters); - /** - * @brief Modify the path points near the goal to smoothly connect the lanelet and the goal point. - */ - PathWithLaneId modifyPathForSmoothGoalConnection( - const PathWithLaneId & path, - const std::shared_ptr & planner_data) const; // (TODO) move to util OnSetParametersCallbackHandle::SharedPtr m_set_param_res; /** diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp index f4ae0870f14b..f179b9013970 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp @@ -84,8 +84,6 @@ class BehaviorTreeManager uint16_t max_msg_per_second = 25); void resetGrootMonitor(); - - bool isEgoOutOfRoute(const std::shared_ptr & data) const; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp index e10646204589..2f989d6215fc 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp @@ -98,12 +98,12 @@ class PlannerManager } /** - * @brief publish all registered modules' debug markers. + * @brief publish all registered modules' markers. */ - void publishDebugMarker() const + void publishMarker() const { std::for_each( - manager_ptrs_.begin(), manager_ptrs_.end(), [](const auto & m) { m->publishDebugMarker(); }); + manager_ptrs_.begin(), manager_ptrs_.end(), [](const auto & m) { m->publishMarker(); }); } /** @@ -354,8 +354,6 @@ class PlannerManager const std::vector & request_modules, const std::shared_ptr & data, const BehaviorModuleOutput & previous_module_output); - bool isEgoOutOfRoute(const std::shared_ptr & data) const; - boost::optional root_lanelet_{boost::none}; std::vector manager_ptrs_; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 500e37b293a9..c458fd16a707 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -165,7 +165,6 @@ class GoalPlannerModule : public SceneModuleInterface bool incrementPathIndex(); PathWithLaneId getCurrentPath() const; Pose calcRefinedGoal(const Pose & goal_pose) const; - ParallelParkingParameters getGeometricGoalPlannerParameters() const; double calcSignedArcLengthFromEgo(const PathWithLaneId & path, const Pose & pose) const; void decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const; void decelerateBeforeSearchStart(const Pose & search_start_pose, PathWithLaneId & path) const; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp index 1546015d5479..63720996782f 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp @@ -117,7 +117,6 @@ class PullOutModule : public SceneModuleInterface std::shared_ptr getCurrentPlanner() const; PathWithLaneId getFullPath() const; - ParallelParkingParameters getGeometricPullOutParameters() const; std::vector searchPullOutStartPoses(); std::shared_ptr lane_departure_checker_; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp index 1b9f837d5a90..e08116928c9e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp @@ -79,6 +79,11 @@ class SceneModuleInterface pub_debug_marker_ = node.create_publisher(ns, 20); } + { + const auto ns = std::string("~/info/") + utils::convertToSnakeCase(name); + pub_info_marker_ = node.create_publisher(ns, 20); + } + { const auto ns = std::string("~/virtual_wall/") + utils::convertToSnakeCase(name); pub_virtual_wall_ = node.create_publisher(ns, 20); @@ -277,6 +282,8 @@ class SceneModuleInterface virtual void setData(const std::shared_ptr & data) { planner_data_ = data; } #ifdef USE_OLD_ARCHITECTURE + void publishInfoMarker() { pub_info_marker_->publish(info_marker_); } + void publishDebugMarker() { pub_debug_marker_->publish(debug_marker_); } void publishVirtualWall() @@ -322,7 +329,9 @@ class SceneModuleInterface PlanResult getPathReference() const { return path_reference_; } - MarkerArray getDebugMarkers() { return debug_marker_; } + MarkerArray getInfoMarkers() const { return info_marker_; } + + MarkerArray getDebugMarkers() const { return debug_marker_; } ModuleStatus getCurrentStatus() const { return current_state_; } @@ -375,6 +384,7 @@ class SceneModuleInterface rclcpp::Logger logger_; #ifdef USE_OLD_ARCHITECTURE + rclcpp::Publisher::SharedPtr pub_info_marker_; rclcpp::Publisher::SharedPtr pub_debug_marker_; rclcpp::Publisher::SharedPtr pub_virtual_wall_; #endif @@ -477,6 +487,8 @@ class SceneModuleInterface mutable boost::optional dead_pose_{boost::none}; + mutable MarkerArray info_marker_; + mutable MarkerArray debug_marker_; }; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp index 665c9eaf7c80..44606dc72819 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp @@ -64,6 +64,7 @@ class SceneModuleManagerInterface rtc_type, std::make_shared(node, rtc_interface_name)); } + pub_info_marker_ = node->create_publisher("~/info/" + name, 20); pub_debug_marker_ = node->create_publisher("~/debug/" + name, 20); pub_virtual_wall_ = node->create_publisher("~/virtual_wall/" + name, 20); } @@ -153,28 +154,37 @@ class SceneModuleManagerInterface pub_virtual_wall_->publish(markers); } - void publishDebugMarker() const + void publishMarker() const { using tier4_autoware_utils::appendMarkerArray; - MarkerArray markers{}; + MarkerArray info_markers{}; + MarkerArray debug_markers{}; const auto marker_offset = std::numeric_limits::max(); uint32_t marker_id = marker_offset; for (const auto & m : registered_modules_) { + for (auto & marker : m->getInfoMarkers().markers) { + marker.id += marker_id; + info_markers.markers.push_back(marker); + } + for (auto & marker : m->getDebugMarkers().markers) { marker.id += marker_id; - markers.markers.push_back(marker); + debug_markers.markers.push_back(marker); } + marker_id += marker_offset; } if (registered_modules_.empty() && idling_module_ != nullptr) { - appendMarkerArray(idling_module_->getDebugMarkers(), &markers); + appendMarkerArray(idling_module_->getInfoMarkers(), &info_markers); + appendMarkerArray(idling_module_->getDebugMarkers(), &debug_markers); } - pub_debug_marker_->publish(markers); + pub_info_marker_->publish(info_markers); + pub_debug_marker_->publish(debug_markers); } bool exist(const SceneModulePtr & module_ptr) const @@ -229,6 +239,8 @@ class SceneModuleManagerInterface rclcpp::Logger logger_; + rclcpp::Publisher::SharedPtr pub_info_marker_; + rclcpp::Publisher::SharedPtr pub_debug_marker_; rclcpp::Publisher::SharedPtr pub_virtual_wall_; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp index b5cc03897e2f..18bf7ad54e70 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp @@ -49,17 +49,27 @@ struct ParallelParkingParameters { double th_arrived_distance; double th_stopped_velocity; + double maximum_deceleration; + + // forward parking double after_forward_parking_straight_distance; - double after_backward_parking_straight_distance; double forward_parking_velocity; + double forward_parking_lane_departure_margin; + double forward_parking_path_interval; + double forward_parking_max_steer_angle; + + // backward parking + double after_backward_parking_straight_distance; double backward_parking_velocity; - double departing_velocity; double backward_parking_lane_departure_margin; - double forward_parking_lane_departure_margin; - double departing_lane_departure_margin; - double arc_path_interval; - double maximum_deceleration; - double max_steer_angle; + double backward_parking_path_interval; + double backward_parking_max_steer_angle; + + // pull_out + double pull_out_velocity; + double pull_out_lane_departure_margin; + double pull_out_path_interval; + double pull_out_max_steer_angle; }; class GeometricParallelParking @@ -72,9 +82,14 @@ class GeometricParallelParking bool planPullOut( const Pose & start_pose, const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes); - void setData( - const std::shared_ptr & planner_data, - const ParallelParkingParameters & parameters); + void setParameters(const ParallelParkingParameters & parameters) { parameters_ = parameters; } + void setPlannerData(const std::shared_ptr & planner_data) + { + planner_data_ = planner_data; + } + void setTurningRadius( + const BehaviorPathPlannerParameters & common_params, const double max_steer_angle); + void incrementPathIndex(); std::vector getArcPaths() const { return arc_paths_; } @@ -103,10 +118,11 @@ class GeometricParallelParking std::vector planOneTrial( const Pose & start_pose, const Pose & goal_pose, const double R_E_r, const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, - bool is_forward, const double end_pose_offset, const double lane_departure_margin); + bool is_forward, const double end_pose_offset, const double lane_departure_margin, + const double arc_path_interval); PathWithLaneId generateArcPath( const Pose & center, const double radius, const double start_yaw, double end_yaw, - const bool is_left_turn, const bool is_forward); + const double arc_path_interval, const bool is_left_turn, const bool is_forward); PathPointWithLaneId generateArcPathPoint( const Pose & center, const double radius, const double yaw, const bool is_left_turn, const bool is_forward); diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp index 6177a6197a14..aee78930d2e1 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp @@ -34,7 +34,6 @@ class GeometricPullOver : public PullOverPlannerBase public: GeometricPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const ParallelParkingParameters & parallel_parking_parameters, const LaneDepartureChecker & lane_departure_checker, const std::shared_ptr occupancy_grid_map, const bool is_forward); diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp index ff091a88ed44..6da7c131a281 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp @@ -16,6 +16,8 @@ #ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_PLANNER_PARAMETERS_HPP_ #define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_PLANNER_PARAMETERS_HPP_ +#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp" + #include #include #include @@ -37,14 +39,12 @@ enum class ParkingPolicy { struct GoalPlannerParameters { + // general params double minimum_request_length; double th_arrived_distance; double th_stopped_velocity; double th_stopped_time; - double margin_from_boundary; - double decide_path_distance; - double maximum_deceleration; - double maximum_jerk; + // goal search std::string search_priority; // "efficient_path" or "close_goal" ParkingPolicy parking_policy; // "left_side" or "right_side" @@ -55,60 +55,50 @@ struct GoalPlannerParameters double max_lateral_offset; double lateral_offset_interval; double ignore_distance_from_lane_start; + double margin_from_boundary; + // occupancy grid map bool use_occupancy_grid; bool use_occupancy_grid_for_longitudinal_margin; double occupancy_grid_collision_check_margin; int theta_size; int obstacle_threshold; + // object recognition bool use_object_recognition; double object_recognition_collision_check_margin; + + // pull over general params + double pull_over_velocity; + double pull_over_minimum_velocity; + double decide_path_distance; + double maximum_deceleration; + double maximum_jerk; + // shift path bool enable_shift_parking; - int pull_over_sampling_num; + int shift_sampling_num; double maximum_lateral_jerk; double minimum_lateral_jerk; double deceleration_interval; - double pull_over_velocity; - double pull_over_minimum_velocity; - double after_pull_over_straight_distance; + double after_shift_straight_distance; + // parallel parking bool enable_arc_forward_parking; bool enable_arc_backward_parking; - double after_forward_parking_straight_distance; - double after_backward_parking_straight_distance; - double forward_parking_velocity; - double backward_parking_velocity; - double forward_parking_lane_departure_margin; - double backward_parking_lane_departure_margin; - double arc_path_interval; - double pull_over_max_steer_angle; + ParallelParkingParameters parallel_parking_parameters; + // freespace parking bool enable_freespace_parking; - // hazard - double hazard_on_threshold_distance; - double hazard_on_threshold_velocity; - // check safety with dynamic objects. Not used now. - double pull_over_duration; - double pull_over_prepare_duration; - double min_stop_distance; - double stop_time; - double hysteresis_buffer_distance; - double prediction_time_resolution; - bool enable_collision_check_at_prepare_phase; - bool use_predicted_path_outside_lanelet; - bool use_all_predicted_path; - // debug - bool print_debug_info; - - // freespace pull over - std::string algorithm; + std::string freespace_parking_algorithm; double freespace_parking_velocity; double vehicle_shape_margin; - PlannerCommonParam common_parameters; + PlannerCommonParam freespace_parking_common_parameters; AstarParam astar_parameters; RRTStarParam rrt_star_parameters; + + // debug + bool print_debug_info; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp index 788b37448c4a..0ab6bd465fb2 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/geometric_pull_out.hpp @@ -26,9 +26,7 @@ namespace behavior_path_planner class GeometricPullOut : public PullOutPlannerBase { public: - explicit GeometricPullOut( - rclcpp::Node & node, const PullOutParameters & parameters, - const ParallelParkingParameters & parallel_parking_parameters); + explicit GeometricPullOut(rclcpp::Node & node, const PullOutParameters & parameters); PlannerType getPlannerType() override { return PlannerType::GEOMETRIC; }; boost::optional plan(Pose start_pose, Pose goal_pose) override; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp index ce4629bf9da1..0fc7d367718e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/pull_out/pull_out_parameters.hpp @@ -16,6 +16,8 @@ #ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PARAMETERS_HPP_ #define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OUT__PULL_OUT_PARAMETERS_HPP_ +#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp" + #include #include @@ -39,14 +41,11 @@ struct PullOutParameters // geometric pull out bool enable_geometric_pull_out; bool divide_pull_out_path; - double geometric_pull_out_velocity; - double arc_path_interval; - double lane_departure_margin; - double backward_velocity; - double pull_out_max_steer_angle; + ParallelParkingParameters parallel_parking_parameters; // search start pose backward std::string search_priority; // "efficient_path" or "short_back_distance" bool enable_back; + double backward_velocity; double max_back_distance; double backward_search_resolution; double backward_path_update_duration; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index fe9dd875b629..edb30eb88373 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -298,6 +298,10 @@ PathWithLaneId createGoalAroundPath( bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes); +bool isEgoOutOfRoute( + const Pose & self_pose, const std::optional & modified_goal, + const std::shared_ptr & route_handler); + // path management // TODO(Horibe) There is a similar function in route_handler. Check. diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml index 9f2743e1cefa..b5585151869d 100644 --- a/planning/behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/package.xml @@ -39,8 +39,7 @@ Ryohsuke Mitsudome ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_perception_msgs diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 4170f6b63e46..e58c71f00fc6 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -761,17 +761,18 @@ GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam() { GoalPlannerParameters p; + // general params { std::string ns = "goal_planner."; p.minimum_request_length = declare_parameter(ns + "minimum_request_length"); p.th_stopped_velocity = declare_parameter(ns + "th_stopped_velocity"); p.th_arrived_distance = declare_parameter(ns + "th_arrived_distance"); p.th_stopped_time = declare_parameter(ns + "th_stopped_time"); - p.margin_from_boundary = declare_parameter(ns + "margin_from_boundary"); - p.decide_path_distance = declare_parameter(ns + "decide_path_distance"); - p.maximum_deceleration = declare_parameter(ns + "maximum_deceleration"); - p.maximum_jerk = declare_parameter(ns + "maximum_jerk"); - // goal search + } + + // goal search + { + std::string ns = "goal_planner.goal_search."; p.search_priority = declare_parameter(ns + "search_priority"); p.forward_goal_search_length = declare_parameter(ns + "forward_goal_search_length"); p.backward_goal_search_length = declare_parameter(ns + "backward_goal_search_length"); @@ -781,7 +782,24 @@ GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam() p.lateral_offset_interval = declare_parameter(ns + "lateral_offset_interval"); p.ignore_distance_from_lane_start = declare_parameter(ns + "ignore_distance_from_lane_start"); - // occupancy grid map + p.margin_from_boundary = declare_parameter(ns + "margin_from_boundary"); + + const std::string parking_policy_name = declare_parameter(ns + "parking_policy"); + if (parking_policy_name == "left_side") { + p.parking_policy = ParkingPolicy::LEFT_SIDE; + } else if (parking_policy_name == "right_side") { + p.parking_policy = ParkingPolicy::RIGHT_SIDE; + } else { + RCLCPP_ERROR_STREAM( + get_logger(), + "[goal_planner] invalid parking_policy: " << parking_policy_name << std::endl); + exit(EXIT_FAILURE); + } + } + + // occupancy grid map + { + std::string ns = "goal_planner.occupancy_grid."; p.use_occupancy_grid = declare_parameter(ns + "use_occupancy_grid"); p.use_occupancy_grid_for_longitudinal_margin = declare_parameter(ns + "use_occupancy_grid_for_longitudinal_margin"); @@ -789,116 +807,118 @@ GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam() declare_parameter(ns + "occupancy_grid_collision_check_margin"); p.theta_size = declare_parameter(ns + "theta_size"); p.obstacle_threshold = declare_parameter(ns + "obstacle_threshold"); - // object recognition + } + + // object recognition + { + std::string ns = "goal_planner.object_recognition."; p.use_object_recognition = declare_parameter(ns + "use_object_recognition"); p.object_recognition_collision_check_margin = declare_parameter(ns + "object_recognition_collision_check_margin"); - // shift path + } + + // pull over general params + { + std::string ns = "goal_planner.pull_over."; + p.pull_over_velocity = declare_parameter(ns + "pull_over_velocity"); + p.pull_over_minimum_velocity = declare_parameter(ns + "pull_over_minimum_velocity"); + p.decide_path_distance = declare_parameter(ns + "decide_path_distance"); + p.maximum_deceleration = declare_parameter(ns + "maximum_deceleration"); + p.maximum_jerk = declare_parameter(ns + "maximum_jerk"); + } + + // shift parking + { + std::string ns = "goal_planner.pull_over.shift_parking."; p.enable_shift_parking = declare_parameter(ns + "enable_shift_parking"); - p.pull_over_sampling_num = declare_parameter(ns + "pull_over_sampling_num"); + p.shift_sampling_num = declare_parameter(ns + "shift_sampling_num"); p.maximum_lateral_jerk = declare_parameter(ns + "maximum_lateral_jerk"); p.minimum_lateral_jerk = declare_parameter(ns + "minimum_lateral_jerk"); p.deceleration_interval = declare_parameter(ns + "deceleration_interval"); - p.pull_over_velocity = declare_parameter(ns + "pull_over_velocity"); - p.pull_over_minimum_velocity = declare_parameter(ns + "pull_over_minimum_velocity"); - p.after_pull_over_straight_distance = - declare_parameter(ns + "after_pull_over_straight_distance"); - // parallel parking + p.after_shift_straight_distance = + declare_parameter(ns + "after_shift_straight_distance"); + } + + // forward parallel parking forward + { + std::string ns = "goal_planner.pull_over.parallel_parking.forward."; p.enable_arc_forward_parking = declare_parameter(ns + "enable_arc_forward_parking"); - p.enable_arc_backward_parking = declare_parameter(ns + "enable_arc_backward_parking"); - p.after_forward_parking_straight_distance = + p.parallel_parking_parameters.after_forward_parking_straight_distance = declare_parameter(ns + "after_forward_parking_straight_distance"); - p.after_backward_parking_straight_distance = - declare_parameter(ns + "after_backward_parking_straight_distance"); - p.forward_parking_velocity = declare_parameter(ns + "forward_parking_velocity"); - p.backward_parking_velocity = declare_parameter(ns + "backward_parking_velocity"); - p.forward_parking_lane_departure_margin = + p.parallel_parking_parameters.forward_parking_velocity = + declare_parameter(ns + "forward_parking_velocity"); + p.parallel_parking_parameters.forward_parking_lane_departure_margin = declare_parameter(ns + "forward_parking_lane_departure_margin"); - p.backward_parking_lane_departure_margin = - declare_parameter(ns + "backward_parking_lane_departure_margin"); - p.arc_path_interval = declare_parameter(ns + "arc_path_interval"); - p.pull_over_max_steer_angle = - declare_parameter(ns + "pull_over_max_steer_angle"); // 20deg - // freespace parking - p.enable_freespace_parking = declare_parameter(ns + "enable_freespace_parking"); - // hazard - p.hazard_on_threshold_distance = declare_parameter(ns + "hazard_on_threshold_distance"); - p.hazard_on_threshold_velocity = declare_parameter(ns + "hazard_on_threshold_velocity"); - // safety with dynamic objects. Not used now. - p.pull_over_duration = declare_parameter(ns + "pull_over_duration"); - p.pull_over_prepare_duration = declare_parameter(ns + "pull_over_prepare_duration"); - p.min_stop_distance = declare_parameter(ns + "min_stop_distance"); - p.stop_time = declare_parameter(ns + "stop_time"); - p.hysteresis_buffer_distance = declare_parameter(ns + "hysteresis_buffer_distance"); - p.prediction_time_resolution = declare_parameter(ns + "prediction_time_resolution"); - p.enable_collision_check_at_prepare_phase = - declare_parameter(ns + "enable_collision_check_at_prepare_phase"); - p.use_predicted_path_outside_lanelet = - declare_parameter(ns + "use_predicted_path_outside_lanelet"); - p.use_all_predicted_path = declare_parameter(ns + "use_all_predicted_path"); - // debug - p.print_debug_info = declare_parameter(ns + "print_debug_info"); - - // validation of parameters - if (p.pull_over_sampling_num < 1) { - RCLCPP_FATAL_STREAM( - get_logger(), "pull_over_sampling_num must be positive integer. Given parameter: " - << p.pull_over_sampling_num << std::endl - << "Terminating the program..."); - exit(EXIT_FAILURE); - } - if (p.maximum_deceleration < 0.0) { - RCLCPP_FATAL_STREAM( - get_logger(), "maximum_deceleration cannot be negative value. Given parameter: " - << p.maximum_deceleration << std::endl - << "Terminating the program..."); - exit(EXIT_FAILURE); - } + p.parallel_parking_parameters.forward_parking_path_interval = + declare_parameter(ns + "forward_parking_path_interval"); + p.parallel_parking_parameters.forward_parking_max_steer_angle = + declare_parameter(ns + "forward_parking_max_steer_angle"); // 20deg + } - const std::string parking_policy_name = declare_parameter(ns + "parking_policy"); - if (parking_policy_name == "left_side") { - p.parking_policy = ParkingPolicy::LEFT_SIDE; - } else if (parking_policy_name == "right_side") { - p.parking_policy = ParkingPolicy::RIGHT_SIDE; - } else { - RCLCPP_ERROR_STREAM( - get_logger(), - "[goal_planner] invalid parking_policy: " << parking_policy_name << std::endl); - exit(EXIT_FAILURE); - } + // forward parallel parking backward + { + std::string ns = "goal_planner.pull_over.parallel_parking.backward."; + p.enable_arc_backward_parking = declare_parameter(ns + "enable_arc_backward_parking"); + p.parallel_parking_parameters.after_backward_parking_straight_distance = + declare_parameter(ns + "after_backward_parking_straight_distance"); + p.parallel_parking_parameters.backward_parking_velocity = + declare_parameter(ns + "backward_parking_velocity"); + p.parallel_parking_parameters.backward_parking_lane_departure_margin = + declare_parameter(ns + "backward_parking_lane_departure_margin"); + p.parallel_parking_parameters.backward_parking_path_interval = + declare_parameter(ns + "backward_parking_path_interval"); + p.parallel_parking_parameters.backward_parking_max_steer_angle = + declare_parameter(ns + "backward_parking_max_steer_angle"); // 20deg } + // freespace parking general params { - std::string ns = "goal_planner.freespace_parking."; - // search configs - p.algorithm = declare_parameter(ns + "planning_algorithm"); + std::string ns = "goal_planner.pull_over.freespace_parking."; + p.enable_freespace_parking = declare_parameter(ns + "enable_freespace_parking"); + p.freespace_parking_algorithm = + declare_parameter(ns + "freespace_parking_algorithm"); p.freespace_parking_velocity = declare_parameter(ns + "velocity"); p.vehicle_shape_margin = declare_parameter(ns + "vehicle_shape_margin"); - p.common_parameters.time_limit = declare_parameter(ns + "time_limit"); - p.common_parameters.minimum_turning_radius = + p.freespace_parking_common_parameters.time_limit = declare_parameter(ns + "time_limit"); + p.freespace_parking_common_parameters.minimum_turning_radius = declare_parameter(ns + "minimum_turning_radius"); - p.common_parameters.maximum_turning_radius = + p.freespace_parking_common_parameters.maximum_turning_radius = declare_parameter(ns + "maximum_turning_radius"); - p.common_parameters.turning_radius_size = declare_parameter(ns + "turning_radius_size"); - p.common_parameters.maximum_turning_radius = std::max( - p.common_parameters.maximum_turning_radius, p.common_parameters.minimum_turning_radius); - p.common_parameters.turning_radius_size = std::max(p.common_parameters.turning_radius_size, 1); - - p.common_parameters.theta_size = declare_parameter(ns + "theta_size"); - p.common_parameters.angle_goal_range = declare_parameter(ns + "angle_goal_range"); - - p.common_parameters.curve_weight = declare_parameter(ns + "curve_weight"); - p.common_parameters.reverse_weight = declare_parameter(ns + "reverse_weight"); - p.common_parameters.lateral_goal_range = declare_parameter(ns + "lateral_goal_range"); - p.common_parameters.longitudinal_goal_range = + p.freespace_parking_common_parameters.turning_radius_size = + declare_parameter(ns + "turning_radius_size"); + p.freespace_parking_common_parameters.maximum_turning_radius = std::max( + p.freespace_parking_common_parameters.maximum_turning_radius, + p.freespace_parking_common_parameters.minimum_turning_radius); + p.freespace_parking_common_parameters.turning_radius_size = + std::max(p.freespace_parking_common_parameters.turning_radius_size, 1); + } + + // freespace parking search config + { + std::string ns = "goal_planner.pull_over.freespace_parking.search_configs."; + p.freespace_parking_common_parameters.theta_size = declare_parameter(ns + "theta_size"); + p.freespace_parking_common_parameters.angle_goal_range = + declare_parameter(ns + "angle_goal_range"); + p.freespace_parking_common_parameters.curve_weight = + declare_parameter(ns + "curve_weight"); + p.freespace_parking_common_parameters.reverse_weight = + declare_parameter(ns + "reverse_weight"); + p.freespace_parking_common_parameters.lateral_goal_range = + declare_parameter(ns + "lateral_goal_range"); + p.freespace_parking_common_parameters.longitudinal_goal_range = declare_parameter(ns + "longitudinal_goal_range"); + } - // costmap configs - p.common_parameters.obstacle_threshold = declare_parameter(ns + "obstacle_threshold"); + // freespace parking costmap configs + { + std::string ns = "goal_planner.pull_over.freespace_parking.costmap_configs."; + p.freespace_parking_common_parameters.obstacle_threshold = + declare_parameter(ns + "obstacle_threshold"); } + // freespace parking astar { - std::string ns = "goal_planner.freespace_parking.astar."; + std::string ns = "goal_planner.pull_over.freespace_parking.astar."; p.astar_parameters.only_behind_solutions = declare_parameter(ns + "only_behind_solutions"); p.astar_parameters.use_back = declare_parameter(ns + "use_back"); @@ -906,8 +926,9 @@ GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam() declare_parameter(ns + "distance_heuristic_weight"); } + // freespace parking rrtstar { - std::string ns = "goal_planner.freespace_parking.rrtstar."; + std::string ns = "goal_planner.pull_over.freespace_parking.rrtstar."; p.rrt_star_parameters.enable_update = declare_parameter(ns + "enable_update"); p.rrt_star_parameters.use_informed_sampling = declare_parameter(ns + "use_informed_sampling"); @@ -916,6 +937,28 @@ GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam() p.rrt_star_parameters.margin = declare_parameter(ns + "margin"); } + // debug + { + std::string ns = "goal_planner.debug."; + p.print_debug_info = declare_parameter(ns + "print_debug_info"); + } + + // validation of parameters + if (p.shift_sampling_num < 1) { + RCLCPP_FATAL_STREAM( + get_logger(), "shift_sampling_num must be positive integer. Given parameter: " + << p.shift_sampling_num << std::endl + << "Terminating the program..."); + exit(EXIT_FAILURE); + } + if (p.maximum_deceleration < 0.0) { + RCLCPP_FATAL_STREAM( + get_logger(), "maximum_deceleration cannot be negative value. Given parameter: " + << p.maximum_deceleration << std::endl + << "Terminating the program..."); + exit(EXIT_FAILURE); + } + return p; } @@ -943,15 +986,19 @@ PullOutParameters BehaviorPathPlannerNode::getPullOutParam() // geometric pull out p.enable_geometric_pull_out = declare_parameter(ns + "enable_geometric_pull_out"); p.divide_pull_out_path = declare_parameter(ns + "divide_pull_out_path"); - p.geometric_pull_out_velocity = declare_parameter(ns + "geometric_pull_out_velocity"); - p.arc_path_interval = declare_parameter(ns + "arc_path_interval"); - p.lane_departure_margin = declare_parameter(ns + "lane_departure_margin"); - p.backward_velocity = declare_parameter(ns + "backward_velocity"); - p.pull_out_max_steer_angle = declare_parameter(ns + "pull_out_max_steer_angle"); // 15deg + p.parallel_parking_parameters.pull_out_velocity = + declare_parameter(ns + "geometric_pull_out_velocity"); + p.parallel_parking_parameters.pull_out_path_interval = + declare_parameter(ns + "arc_path_interval"); + p.parallel_parking_parameters.pull_out_lane_departure_margin = + declare_parameter(ns + "lane_departure_margin"); + p.parallel_parking_parameters.pull_out_max_steer_angle = + declare_parameter(ns + "pull_out_max_steer_angle"); // 15deg // search start pose backward p.search_priority = declare_parameter( ns + "search_priority"); // "efficient_path" or "short_back_distance" p.enable_back = declare_parameter(ns + "enable_back"); + p.backward_velocity = declare_parameter(ns + "backward_velocity"); p.max_back_distance = declare_parameter(ns + "max_back_distance"); p.backward_search_resolution = declare_parameter(ns + "backward_search_resolution"); p.backward_path_update_duration = declare_parameter(ns + "backward_path_update_duration"); @@ -1166,7 +1213,7 @@ void BehaviorPathPlannerNode::run() #ifndef USE_OLD_ARCHITECTURE planner_manager_->print(); - planner_manager_->publishDebugMarker(); + planner_manager_->publishMarker(); planner_manager_->publishVirtualWall(); lk_manager.unlock(); // release planner_manager_ #endif @@ -1580,31 +1627,6 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam( return result; } - -PathWithLaneId BehaviorPathPlannerNode::modifyPathForSmoothGoalConnection( - const PathWithLaneId & path, const std::shared_ptr & planner_data) const -{ - const auto goal = planner_data->route_handler->getGoalPose(); - const auto goal_lane_id = planner_data->route_handler->getGoalLaneId(); - - Pose refined_goal{}; - { - lanelet::ConstLanelet goal_lanelet; - if (planner_data->route_handler->getGoalLanelet(&goal_lanelet)) { - refined_goal = utils::refineGoal(goal, goal_lanelet); - } else { - refined_goal = goal; - } - } - - auto refined_path = utils::refinePathForGoal( - planner_data->parameters.refine_goal_search_radius_range, M_PI * 0.5, path, refined_goal, - goal_lane_id); - refined_path.header.frame_id = "map"; - refined_path.header.stamp = this->now(); - - return refined_path; -} } // namespace behavior_path_planner #include diff --git a/planning/behavior_path_planner/src/behavior_tree_manager.cpp b/planning/behavior_path_planner/src/behavior_tree_manager.cpp index 692b87d5a69b..e940692144c6 100644 --- a/planning/behavior_path_planner/src/behavior_tree_manager.cpp +++ b/planning/behavior_path_planner/src/behavior_tree_manager.cpp @@ -89,7 +89,14 @@ BehaviorModuleOutput BehaviorTreeManager::run(const std::shared_ptr *s = SceneModuleStatus{s->module_name}; }); - if (isEgoOutOfRoute(data)) { + const bool is_any_module_running = std::any_of( + scene_modules_.begin(), scene_modules_.end(), + [](const auto & module) { return module->getCurrentStatus() == BT::NodeStatus::RUNNING; }); + + if ( + !is_any_module_running && + utils::isEgoOutOfRoute( + data->self_odometry->pose.pose, data->prev_modified_goal, data->route_handler)) { BehaviorModuleOutput output{}; const auto output_path = utils::createGoalAroundPath(data->route_handler, data->prev_modified_goal); @@ -110,6 +117,7 @@ BehaviorModuleOutput BehaviorTreeManager::run(const std::shared_ptr resetNotRunningModulePathCandidate(); std::for_each(scene_modules_.begin(), scene_modules_.end(), [](const auto & m) { + m->publishInfoMarker(); m->publishDebugMarker(); m->publishVirtualWall(); if (!m->isExecutionRequested()) { @@ -159,51 +167,6 @@ void BehaviorTreeManager::resetGrootMonitor() } } -bool BehaviorTreeManager::isEgoOutOfRoute(const std::shared_ptr & data) const -{ - const auto self_pose = data->self_odometry->pose.pose; - const Pose goal_pose = - data->prev_modified_goal ? data->prev_modified_goal->pose : data->route_handler->getGoalPose(); - const auto shoulder_lanes = data->route_handler->getShoulderLanelets(); - - lanelet::ConstLanelet goal_lane; - const bool is_failed_getting_lanelet = std::invoke([&]() { - if (utils::isInLanelets(goal_pose, shoulder_lanes)) { - return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); - } - return !data->route_handler->getGoalLanelet(&goal_lane); - }); - if (is_failed_getting_lanelet) { - RCLCPP_WARN_STREAM(logger_, "cannot find goal lanelet"); - return true; - } - - // If ego vehicle is over goal on goal lane, return true - if (lanelet::utils::isInLanelet(self_pose, goal_lane)) { - constexpr double buffer = 1.0; - const auto ego_arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, self_pose); - const auto goal_arc_coord = - lanelet::utils::getArcCoordinates({goal_lane}, data->route_handler->getGoalPose()); - if (ego_arc_coord.length > goal_arc_coord.length + buffer) { - return true; - } else { - return false; - } - } - - // If ego vehicle is out of the closest lanelet, return true - lanelet::ConstLanelet closest_lane; - if (!data->route_handler->getClosestLaneletWithinRoute(self_pose, &closest_lane)) { - RCLCPP_WARN_STREAM(logger_, "cannot find closest lanelet"); - return true; - } - if (!lanelet::utils::isInLanelet(self_pose, closest_lane)) { - return true; - } - - return false; -} - std::shared_ptr BehaviorTreeManager::getAllSceneModuleDebugMsgData() { scene_module_visitor_ptr_ = std::make_shared(); diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index 8ad650a526bd..a718f97f20d8 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -47,7 +47,21 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da manager_ptrs_.begin(), manager_ptrs_.end(), [&data](const auto & m) { m->setData(data); }); auto result_output = [&]() { - if (isEgoOutOfRoute(data)) { + const bool is_any_approved_module_running = std::any_of( + approved_module_ptrs_.begin(), approved_module_ptrs_.end(), + [](const auto & m) { return m->getCurrentStatus() == ModuleStatus::RUNNING; }); + + const bool is_any_candidate_module_running = std::any_of( + candidate_module_ptrs_.begin(), candidate_module_ptrs_.end(), + [](const auto & m) { return m->getCurrentStatus() == ModuleStatus::RUNNING; }); + + const bool is_any_module_running = + is_any_approved_module_running || is_any_candidate_module_running; + + const bool is_out_of_route = utils::isEgoOutOfRoute( + data->self_odometry->pose.pose, data->prev_modified_goal, data->route_handler); + + if (!is_any_module_running && is_out_of_route) { BehaviorModuleOutput output{}; const auto output_path = utils::createGoalAroundPath(data->route_handler, data->prev_modified_goal); @@ -55,6 +69,7 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da output.reference_path = std::make_shared(output_path); return output; } + while (rclcpp::ok()) { /** * STEP1: get approved modules' output @@ -613,51 +628,6 @@ void PlannerManager::resetRootLanelet(const std::shared_ptr & data) RCLCPP_INFO_EXPRESSION(logger_, verbose_, "change ego's following lane. reset."); } -bool PlannerManager::isEgoOutOfRoute(const std::shared_ptr & data) const -{ - const auto self_pose = data->self_odometry->pose.pose; - const Pose goal_pose = - data->prev_modified_goal ? data->prev_modified_goal->pose : data->route_handler->getGoalPose(); - const auto shoulder_lanes = data->route_handler->getShoulderLanelets(); - - lanelet::ConstLanelet goal_lane; - const bool is_failed_getting_lanelet = std::invoke([&]() { - if (utils::isInLanelets(goal_pose, shoulder_lanes)) { - return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); - } - return !data->route_handler->getGoalLanelet(&goal_lane); - }); - if (is_failed_getting_lanelet) { - RCLCPP_WARN_STREAM(logger_, "cannot find goal lanelet"); - return true; - } - - // If ego vehicle is over goal on goal lane, return true - if (lanelet::utils::isInLanelet(self_pose, goal_lane)) { - constexpr double buffer = 1.0; - const auto ego_arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, self_pose); - const auto goal_arc_coord = - lanelet::utils::getArcCoordinates({goal_lane}, data->route_handler->getGoalPose()); - if (ego_arc_coord.length > goal_arc_coord.length + buffer) { - return true; - } else { - return false; - } - } - - // If ego vehicle is out of the closest lanelet, return true - lanelet::ConstLanelet closest_lane; - if (!data->route_handler->getClosestLaneletWithinRoute(self_pose, &closest_lane)) { - RCLCPP_WARN_STREAM(logger_, "cannot find closest lanelet"); - return true; - } - if (!lanelet::utils::isInLanelet(self_pose, closest_lane)) { - return true; - } - - return false; -} - void PlannerManager::print() const { if (!verbose_) { diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 1dc45f185cc8..df2bef8dafb4 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -85,14 +85,12 @@ GoalPlannerModule::GoalPlannerModule( if (parameters_->enable_arc_forward_parking) { constexpr bool is_forward = true; pull_over_planners_.push_back(std::make_shared( - node, *parameters, getGeometricGoalPlannerParameters(), lane_departure_checker, - occupancy_grid_map_, is_forward)); + node, *parameters, lane_departure_checker, occupancy_grid_map_, is_forward)); } if (parameters_->enable_arc_backward_parking) { constexpr bool is_forward = false; pull_over_planners_.push_back(std::make_shared( - node, *parameters, getGeometricGoalPlannerParameters(), lane_departure_checker, - occupancy_grid_map_, is_forward)); + node, *parameters, lane_departure_checker, occupancy_grid_map_, is_forward)); } } if (pull_over_planners_.empty()) { @@ -250,28 +248,6 @@ BehaviorModuleOutput GoalPlannerModule::run() return plan(); } -ParallelParkingParameters GoalPlannerModule::getGeometricGoalPlannerParameters() const -{ - ParallelParkingParameters params{}; - - params.th_arrived_distance = parameters_->th_arrived_distance; - params.th_stopped_velocity = parameters_->th_stopped_velocity; - params.after_forward_parking_straight_distance = - parameters_->after_forward_parking_straight_distance; - params.after_backward_parking_straight_distance = - parameters_->after_backward_parking_straight_distance; - params.forward_parking_velocity = parameters_->forward_parking_velocity; - params.backward_parking_velocity = parameters_->backward_parking_velocity; - params.forward_parking_lane_departure_margin = parameters_->forward_parking_lane_departure_margin; - params.backward_parking_lane_departure_margin = - parameters_->backward_parking_lane_departure_margin; - params.arc_path_interval = parameters_->arc_path_interval; - params.maximum_deceleration = parameters_->maximum_deceleration; - params.max_steer_angle = parameters_->pull_over_max_steer_angle; - - return params; -} - void GoalPlannerModule::processOnEntry() { const auto & route_handler = planner_data_->route_handler; @@ -300,7 +276,6 @@ void GoalPlannerModule::processOnEntry() // initialize when receiving new route if (!last_received_time_ || *last_received_time_ != route_handler->getRouteHeader().stamp) { // Initialize parallel parking planner status - parallel_parking_parameters_ = getGeometricGoalPlannerParameters(); resetStatus(); // calculate goal candidates @@ -345,7 +320,11 @@ bool GoalPlannerModule::isExecutionRequested() const route_handler->isAllowedGoalModification() || checkOriginalGoalIsInShoulder(); const double request_length = allow_goal_modification ? calcModuleRequestLength() : parameters_->minimum_request_length; - if (self_to_goal_arc_length < 0.0 || self_to_goal_arc_length > request_length) { + const double backward_goal_search_length = + allow_goal_modification ? parameters_->backward_goal_search_length : 0.0; + if ( + self_to_goal_arc_length < -backward_goal_search_length || + self_to_goal_arc_length > request_length) { return false; } diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp index d9bb7ac7c628..1ace845a18c5 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp @@ -51,8 +51,7 @@ PullOutModule::PullOutModule( std::make_shared(node, *parameters, lane_departure_checker_)); } if (parameters_->enable_geometric_pull_out) { - pull_out_planners_.push_back( - std::make_shared(node, *parameters, getGeometricPullOutParameters())); + pull_out_planners_.push_back(std::make_shared(node, *parameters)); } if (pull_out_planners_.empty()) { RCLCPP_ERROR(getLogger(), "Not found enabled planner"); @@ -76,8 +75,7 @@ PullOutModule::PullOutModule( std::make_shared(node, *parameters, lane_departure_checker_)); } if (parameters_->enable_geometric_pull_out) { - pull_out_planners_.push_back( - std::make_shared(node, *parameters, getGeometricPullOutParameters())); + pull_out_planners_.push_back(std::make_shared(node, *parameters)); } if (pull_out_planners_.empty()) { RCLCPP_ERROR(getLogger(), "Not found enabled planner"); @@ -376,20 +374,6 @@ void PullOutModule::resetStatus() status_ = initial_status; } -ParallelParkingParameters PullOutModule::getGeometricPullOutParameters() const -{ - ParallelParkingParameters params{}; - - params.th_arrived_distance = parameters_->th_arrived_distance; - params.th_stopped_velocity = parameters_->th_stopped_velocity; - params.arc_path_interval = parameters_->arc_path_interval; - params.departing_velocity = parameters_->geometric_pull_out_velocity; - params.departing_lane_departure_margin = parameters_->lane_departure_margin; - params.max_steer_angle = parameters_->pull_out_max_steer_angle; - - return params; -} - void PullOutModule::incrementPathIndex() { status_.current_path_idx = diff --git a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp index 12dd17722257..03e79ef5e57f 100644 --- a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp @@ -123,9 +123,11 @@ std::vector GeometricParallelParking::generatePullOverPaths( const double lane_departure_margin = is_forward ? parameters_.forward_parking_lane_departure_margin : parameters_.backward_parking_lane_departure_margin; + const double arc_path_interval = is_forward ? parameters_.forward_parking_path_interval + : parameters_.backward_parking_path_interval; auto arc_paths = planOneTrial( start_pose, goal_pose, R_E_r, road_lanes, shoulder_lanes, is_forward, end_pose_offset, - lane_departure_margin); + lane_departure_margin, arc_path_interval); if (arc_paths.empty()) { return std::vector{}; } @@ -182,7 +184,7 @@ bool GeometricParallelParking::planPullOver( constexpr double start_pose_offset = 0.0; constexpr double min_steer_rad = 0.05; constexpr double steer_interval = 0.1; - for (double steer = parameters_.max_steer_angle; steer > min_steer_rad; + for (double steer = parameters_.forward_parking_max_steer_angle; steer > min_steer_rad; steer -= steer_interval) { const double R_E_r = common_params.wheel_base / std::tan(steer); const auto start_pose = calcStartPose(arc_end_pose, start_pose_offset, R_E_r, is_forward); @@ -228,14 +230,14 @@ bool GeometricParallelParking::planPullOut( const Pose & start_pose, const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes) { - constexpr bool is_forward = false; // parking backward means departing forward + constexpr bool is_forward = false; // parking backward means pull_out forward constexpr double start_pose_offset = 0.0; // start_pose is current_pose constexpr double max_offset = 10.0; constexpr double offset_interval = 1.0; for (double end_pose_offset = 0; end_pose_offset < max_offset; end_pose_offset += offset_interval) { - // departing end pose which is the second arc path end + // pull_out end pose which is the second arc path end const auto end_pose = calcStartPose(start_pose, end_pose_offset, R_E_min_, is_forward); if (!end_pose) { continue; @@ -244,7 +246,7 @@ bool GeometricParallelParking::planPullOut( // plan reverse path of parking. end_pose <-> start_pose auto arc_paths = planOneTrial( *end_pose, start_pose, R_E_min_, road_lanes, shoulder_lanes, is_forward, start_pose_offset, - parameters_.departing_lane_departure_margin); + parameters_.pull_out_lane_departure_margin, parameters_.pull_out_path_interval); if (arc_paths.empty()) { // not found path continue; @@ -265,7 +267,7 @@ bool GeometricParallelParking::planPullOut( } } - // get road center line path from departing end to goal, and combine after the second arc path + // get road center line path from pull_out end to goal, and combine after the second arc path const double s_start = getArcCoordinates(road_lanes, *end_pose).length; const double s_goal = getArcCoordinates(road_lanes, goal_pose).length; const double road_lanes_length = std::accumulate( @@ -287,9 +289,9 @@ bool GeometricParallelParking::planPullOut( continue; } - // set departing velocity to arc paths and 0 velocity to end point + // set pull_out velocity to arc paths and 0 velocity to end point constexpr bool set_stop_end = false; - setVelocityToArcPaths(arc_paths, parameters_.departing_velocity, set_stop_end); + setVelocityToArcPaths(arc_paths, parameters_.pull_out_velocity, set_stop_end); arc_paths.back().points.front().point.longitudinal_velocity_mps = 0.0; // combine the road center line path with the second arc path @@ -358,7 +360,8 @@ PathWithLaneId GeometricParallelParking::generateStraightPath(const Pose & start std::vector GeometricParallelParking::planOneTrial( const Pose & start_pose, const Pose & goal_pose, const double R_E_r, const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, - const bool is_forward, const double end_pose_offset, const double lane_departure_margin) + const bool is_forward, const double end_pose_offset, const double lane_departure_margin, + const double arc_path_interval) { clearPaths(); @@ -426,12 +429,14 @@ std::vector GeometricParallelParking::planOneTrial( (2 * R_E_l * (R_E_l + R_E_r))); theta_l = is_forward ? theta_l : -theta_l; - PathWithLaneId path_turn_left = - generateArcPath(Cl, R_E_l, -M_PI_2, normalizeRadian(-M_PI_2 + theta_l), is_forward, is_forward); + PathWithLaneId path_turn_left = generateArcPath( + Cl, R_E_l, -M_PI_2, normalizeRadian(-M_PI_2 + theta_l), arc_path_interval, is_forward, + is_forward); path_turn_left.header = planner_data_->route_handler->getRouteHeader(); PathWithLaneId path_turn_right = generateArcPath( - Cr, R_E_r, normalizeRadian(psi + M_PI_2 + theta_l), M_PI_2, !is_forward, is_forward); + Cr, R_E_r, normalizeRadian(psi + M_PI_2 + theta_l), M_PI_2, arc_path_interval, !is_forward, + is_forward); path_turn_right.header = planner_data_->route_handler->getRouteHeader(); auto setLaneIds = [lanes](PathPointWithLaneId & p) { @@ -473,11 +478,12 @@ std::vector GeometricParallelParking::planOneTrial( PathWithLaneId GeometricParallelParking::generateArcPath( const Pose & center, const double radius, const double start_yaw, double end_yaw, + const double arc_path_interval, const bool is_left_turn, // is_left_turn means clockwise around center. const bool is_forward) { PathWithLaneId path; - const double yaw_interval = parameters_.arc_path_interval / radius; + const double yaw_interval = arc_path_interval / radius; double yaw = start_yaw; if (is_left_turn) { if (end_yaw < start_yaw) end_yaw += M_PI_2; @@ -530,18 +536,13 @@ PathPointWithLaneId GeometricParallelParking::generateArcPathPoint( return p; } -void GeometricParallelParking::setData( - const std::shared_ptr & planner_data, - const ParallelParkingParameters & parameters) +void GeometricParallelParking::setTurningRadius( + const BehaviorPathPlannerParameters & common_params, const double max_steer_angle) { - planner_data_ = planner_data; - parameters_ = parameters; - - auto common_params = planner_data_->parameters; - - R_E_min_ = common_params.wheel_base / std::tan(parameters_.max_steer_angle); + R_E_min_ = common_params.wheel_base / std::tan(max_steer_angle); R_Bl_min_ = std::hypot( R_E_min_ + common_params.wheel_tread / 2 + common_params.left_over_hang, common_params.wheel_base + common_params.front_overhang); } + } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp index 6b94fdcf0ea2..a3e710b85350 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp @@ -29,14 +29,15 @@ FreespacePullOver::FreespacePullOver( { freespace_planning_algorithms::VehicleShape vehicle_shape( vehicle_info, parameters.vehicle_shape_margin); - if (parameters.algorithm == "astar") { + if (parameters.freespace_parking_algorithm == "astar") { use_back_ = parameters.astar_parameters.use_back; planner_ = std::make_unique( - parameters.common_parameters, vehicle_shape, parameters.astar_parameters); - } else if (parameters.algorithm == "rrtstar") { + parameters.freespace_parking_common_parameters, vehicle_shape, parameters.astar_parameters); + } else if (parameters.freespace_parking_algorithm == "rrtstar") { use_back_ = true; // no option for disabling back in rrtstar planner_ = std::make_unique( - parameters.common_parameters, vehicle_shape, parameters.rrt_star_parameters); + parameters.freespace_parking_common_parameters, vehicle_shape, + parameters.rrt_star_parameters); } } diff --git a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp index 2943a33607bb..ed38d09f879b 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp @@ -27,16 +27,16 @@ namespace behavior_path_planner { GeometricPullOver::GeometricPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const ParallelParkingParameters & parallel_parking_parameters, const LaneDepartureChecker & lane_departure_checker, const std::shared_ptr occupancy_grid_map, const bool is_forward) : PullOverPlannerBase{node, parameters}, - parallel_parking_parameters_{parallel_parking_parameters}, + parallel_parking_parameters_{parameters.parallel_parking_parameters}, lane_departure_checker_{lane_departure_checker}, occupancy_grid_map_{occupancy_grid_map}, is_forward_{is_forward} { + planner_.setParameters(parallel_parking_parameters_); } boost::optional GeometricPullOver::plan(const Pose & goal_pose) @@ -53,8 +53,12 @@ boost::optional GeometricPullOver::plan(const Pose & goal_pose) auto lanes = road_lanes; lanes.insert(lanes.end(), shoulder_lanes.begin(), shoulder_lanes.end()); - // todo: set param only once - planner_.setData(planner_data_, parallel_parking_parameters_); + const auto & p = parallel_parking_parameters_; + const double max_steer_angle = + is_forward_ ? p.forward_parking_max_steer_angle : p.backward_parking_max_steer_angle; + planner_.setTurningRadius(planner_data_->parameters, max_steer_angle); + planner_.setPlannerData(planner_data_); + const bool found_valid_path = planner_.planPullOver(goal_pose, road_lanes, shoulder_lanes, is_forward_); if (!found_valid_path) { diff --git a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp index 562dd93aa230..073e97e01912 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp @@ -40,8 +40,8 @@ boost::optional ShiftPullOver::plan(const Pose & goal_pose) const auto & route_handler = planner_data_->route_handler; const double min_jerk = parameters_.minimum_lateral_jerk; const double max_jerk = parameters_.maximum_lateral_jerk; - const int pull_over_sampling_num = parameters_.pull_over_sampling_num; - const double jerk_resolution = std::abs(max_jerk - min_jerk) / pull_over_sampling_num; + const int shift_sampling_num = parameters_.shift_sampling_num; + const double jerk_resolution = std::abs(max_jerk - min_jerk) / shift_sampling_num; // get road and shoulder lanes const auto road_lanes = utils::getExtendedCurrentLanes(planner_data_); @@ -99,10 +99,10 @@ boost::optional ShiftPullOver::generatePullOverPath( const Pose & goal_pose, const double lateral_jerk) const { const double pull_over_velocity = parameters_.pull_over_velocity; - const double after_pull_over_straight_distance = parameters_.after_pull_over_straight_distance; + const double after_shift_straight_distance = parameters_.after_shift_straight_distance; const Pose shift_end_pose = - tier4_autoware_utils::calcOffsetPose(goal_pose, -after_pull_over_straight_distance, 0, 0); + tier4_autoware_utils::calcOffsetPose(goal_pose, -after_shift_straight_distance, 0, 0); // generate road lane reference path to shift end const auto road_lane_reference_path_to_shift_end = utils::resamplePathWithSpline( diff --git a/planning/behavior_path_planner/src/utils/pull_out/geometric_pull_out.cpp b/planning/behavior_path_planner/src/utils/pull_out/geometric_pull_out.cpp index 4dbe7bc2d890..21111f5b06ee 100644 --- a/planning/behavior_path_planner/src/utils/pull_out/geometric_pull_out.cpp +++ b/planning/behavior_path_planner/src/utils/pull_out/geometric_pull_out.cpp @@ -28,11 +28,11 @@ namespace behavior_path_planner using pull_out_utils::combineReferencePath; using pull_out_utils::getPullOutLanes; -GeometricPullOut::GeometricPullOut( - rclcpp::Node & node, const PullOutParameters & parameters, - const ParallelParkingParameters & parallel_parking_parameters) -: PullOutPlannerBase{node, parameters}, parallel_parking_parameters_{parallel_parking_parameters} +GeometricPullOut::GeometricPullOut(rclcpp::Node & node, const PullOutParameters & parameters) +: PullOutPlannerBase{node, parameters}, + parallel_parking_parameters_{parameters.parallel_parking_parameters} { + planner_.setParameters(parallel_parking_parameters_); } boost::optional GeometricPullOut::plan(Pose start_pose, Pose goal_pose) @@ -45,8 +45,9 @@ boost::optional GeometricPullOut::plan(Pose start_pose, Pose goal_p auto lanes = road_lanes; lanes.insert(lanes.end(), shoulder_lanes.begin(), shoulder_lanes.end()); - // todo: set params only once? - planner_.setData(planner_data_, parallel_parking_parameters_); + planner_.setTurningRadius( + planner_data_->parameters, parallel_parking_parameters_.pull_out_max_steer_angle); + planner_.setPlannerData(planner_data_); const bool found_valid_path = planner_.planPullOut(start_pose, goal_pose, road_lanes, shoulder_lanes); if (!found_valid_path) { @@ -68,7 +69,7 @@ boost::optional GeometricPullOut::plan(Pose start_pose, Pose goal_p auto partial_paths = planner_.getPaths(); // remove stop velocity of first arc path partial_paths.front().points.back().point.longitudinal_velocity_mps = - parameters_.geometric_pull_out_velocity; + parallel_parking_parameters_.pull_out_velocity; const auto combined_path = combineReferencePath(partial_paths.at(0), partial_paths.at(1)); output.partial_paths.push_back(combined_path); } diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 01a3238bb525..0b8236bb6173 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -958,6 +958,67 @@ bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes) return false; } +bool isEgoOutOfRoute( + const Pose & self_pose, const std::optional & modified_goal, + const std::shared_ptr & route_handler) +{ + const Pose & goal_pose = modified_goal ? modified_goal->pose : route_handler->getGoalPose(); + const auto shoulder_lanes = route_handler->getShoulderLanelets(); + + lanelet::ConstLanelet goal_lane; + const bool is_failed_getting_lanelet = std::invoke([&]() { + if (utils::isInLanelets(goal_pose, shoulder_lanes)) { + return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); + } + return !route_handler->getGoalLanelet(&goal_lane); + }); + if (is_failed_getting_lanelet) { + RCLCPP_WARN_STREAM( + rclcpp::get_logger("behavior_path_planner").get_child("util"), "cannot find goal lanelet"); + return true; + } + + // If ego vehicle is over goal on goal lane, return true + if (lanelet::utils::isInLanelet(self_pose, goal_lane)) { + constexpr double buffer = 1.0; + const auto ego_arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, self_pose); + const auto goal_arc_coord = + lanelet::utils::getArcCoordinates({goal_lane}, route_handler->getGoalPose()); + if (ego_arc_coord.length > goal_arc_coord.length + buffer) { + return true; + } else { + return false; + } + } + + // If ego vehicle is out of the closest lanelet, return true + // Check if ego vehicle is in shoulder lane + const bool is_in_shoulder_lane = std::invoke([&]() { + lanelet::Lanelet closest_shoulder_lanelet; + if (!lanelet::utils::query::getClosestLanelet( + shoulder_lanes, self_pose, &closest_shoulder_lanelet)) { + return false; + } + return lanelet::utils::isInLanelet(self_pose, closest_shoulder_lanelet); + }); + // Check if ego vehicle is in road lane + const bool is_in_road_lane = std::invoke([&]() { + lanelet::ConstLanelet closest_road_lane; + if (!route_handler->getClosestLaneletWithinRoute(self_pose, &closest_road_lane)) { + RCLCPP_WARN_STREAM( + rclcpp::get_logger("behavior_path_planner").get_child("util"), + "cannot find closest road lanelet"); + return false; + } + return lanelet::utils::isInLanelet(self_pose, closest_road_lane); + }); + if (!is_in_shoulder_lane && !is_in_road_lane) { + return true; + } + + return false; +} + lanelet::ConstLanelets transformToLanelets(const DrivableLanes & drivable_lanes) { lanelet::ConstLanelets lanes; diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml index 4f6903ded676..ef4beb90a44d 100644 --- a/planning/behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/package.xml @@ -46,10 +46,9 @@ Yukihiro Saito ament_cmake + autoware_cmake eigen3_cmake_module - autoware_cmake - autoware_adapi_v1_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs diff --git a/planning/costmap_generator/package.xml b/planning/costmap_generator/package.xml index f2741df943c2..feed19fdcc23 100644 --- a/planning/costmap_generator/package.xml +++ b/planning/costmap_generator/package.xml @@ -14,8 +14,7 @@ BSD-3-Clause ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_auto_perception_msgs diff --git a/planning/external_velocity_limit_selector/package.xml b/planning/external_velocity_limit_selector/package.xml index 59456adac97a..e83966c7b876 100644 --- a/planning/external_velocity_limit_selector/package.xml +++ b/planning/external_velocity_limit_selector/package.xml @@ -3,7 +3,7 @@ external_velocity_limit_selector 0.1.0 - The external_velocity_limit_selector ROS2 package + The external_velocity_limit_selector ROS 2 package Satoshi Ota Shinnosuke Hirakawa Shumpei Wakabayashi @@ -15,8 +15,7 @@ Satoshi Ota ament_cmake_auto - - autoware_cmake + autoware_cmake rclcpp rclcpp_components diff --git a/planning/freespace_planner/package.xml b/planning/freespace_planner/package.xml index 1a7e17e78e03..a748b7f80c9a 100644 --- a/planning/freespace_planner/package.xml +++ b/planning/freespace_planner/package.xml @@ -14,8 +14,7 @@ Tomohito ANDO ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_planning_msgs freespace_planning_algorithms diff --git a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp index e25794d85722..c3828c326820 100644 --- a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp +++ b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp @@ -21,12 +21,21 @@ #include -TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInput) -{ - rclcpp::init(0, nullptr); +using freespace_planner::FreespacePlannerNode; +using planning_test_utils::PlanningInterfaceTestManager; - auto test_manager = std::make_shared(); +std::shared_ptr generateTestManager() +{ + auto test_manager = std::make_shared(); + test_manager->setRouteInputTopicName("freespace_planner/input/route"); + test_manager->setTrajectorySubscriber("freespace_planner/output/trajectory"); + test_manager->setOdometryTopicName("freespace_planner/input/odometry"); + test_manager->setInitialPoseTopicName("freespace_planner/input/odometry"); + return test_manager; +} +std::shared_ptr generateNode() +{ auto node_options = rclcpp::NodeOptions{}; const auto planning_test_utils_dir = ament_index_cpp::get_package_share_directory("planning_test_utils"); @@ -36,19 +45,27 @@ TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInpu {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file", freespace_planner_dir + "/config/freespace_planner.param.yaml"}); - auto test_target_node = std::make_shared(node_options); + return std::make_shared(node_options); +} +void publishMandatoryTopics( + std::shared_ptr test_manager, + rclcpp::Node::SharedPtr test_target_node) +{ // publish necessary topics from test_manager test_manager->publishTF(test_target_node, "/tf"); test_manager->publishOdometry(test_target_node, "freespace_planner/input/odometry"); test_manager->publishOccupancyGrid(test_target_node, "freespace_planner/input/occupancy_grid"); test_manager->publishParkingScenario(test_target_node, "freespace_planner/input/scenario"); +} - // set subscriber with topic name: freespace_planner → test_node_ - test_manager->setRouteInputTopicName("freespace_planner/input/route"); +TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInput) +{ + rclcpp::init(0, nullptr); - // set freespace_planner's input topic name(this topic is changed to test node) - test_manager->setTrajectorySubscriber("freespace_planner/output/trajectory"); + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + publishMandatoryTopics(test_manager, test_target_node); // test with normal route ASSERT_NO_THROW(test_manager->testWithBehaviorNominalRoute(test_target_node)); @@ -56,4 +73,22 @@ TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInpu // test with empty route ASSERT_NO_THROW(test_manager->testWithAbnormalRoute(test_target_node)); + rclcpp::shutdown(); +} + +TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose) +{ + rclcpp::init(0, nullptr); + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + + publishMandatoryTopics(test_manager, test_target_node); + + // test for normal route + ASSERT_NO_THROW(test_manager->testWithBehaviorNominalRoute(test_target_node)); + EXPECT_GE(test_manager->getReceivedTopicNum(), 1); + + ASSERT_NO_THROW(test_manager->testRouteWithInvalidEgoPose(test_target_node)); + + rclcpp::shutdown(); } diff --git a/planning/freespace_planning_algorithms/package.xml b/planning/freespace_planning_algorithms/package.xml index 6ba150bb48d9..372e623e101d 100644 --- a/planning/freespace_planning_algorithms/package.xml +++ b/planning/freespace_planning_algorithms/package.xml @@ -14,8 +14,7 @@ Hirokazu Ishida ament_cmake_auto - - autoware_cmake + autoware_cmake geometry_msgs nav_msgs diff --git a/planning/mission_planner/package.xml b/planning/mission_planner/package.xml index 0cd34c6df0d8..f5f7eefd49d7 100644 --- a/planning/mission_planner/package.xml +++ b/planning/mission_planner/package.xml @@ -15,8 +15,7 @@ Ryohsuke Mitsudome ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_planning_msgs diff --git a/planning/motion_velocity_smoother/package.xml b/planning/motion_velocity_smoother/package.xml index dcbdbf8128b6..f19ead1874f2 100644 --- a/planning/motion_velocity_smoother/package.xml +++ b/planning/motion_velocity_smoother/package.xml @@ -17,10 +17,9 @@ Makoto Kurihara ament_cmake_auto + autoware_cmake eigen3_cmake_module - autoware_cmake - autoware_auto_planning_msgs geometry_msgs interpolation diff --git a/planning/motion_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp b/planning/motion_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp index 8a364f876b32..8d46fc3f10a0 100644 --- a/planning/motion_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp +++ b/planning/motion_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp @@ -14,9 +14,10 @@ #include "motion_velocity_smoother/smoother/jerk_filtered_smoother.hpp" -#include "eigen3/Eigen/Core" #include "motion_velocity_smoother/trajectory_utils.hpp" +#include + #include #include #include diff --git a/planning/motion_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp b/planning/motion_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp index f80fc0231e9c..d9b2375d96b2 100644 --- a/planning/motion_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp +++ b/planning/motion_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp @@ -14,9 +14,10 @@ #include "motion_velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp" -#include "eigen3/Eigen/Core" #include "motion_velocity_smoother/trajectory_utils.hpp" +#include + #include #include #include diff --git a/planning/motion_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp b/planning/motion_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp index 7c3fe6e0ceed..6381c1a8fdac 100644 --- a/planning/motion_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp +++ b/planning/motion_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp @@ -14,9 +14,10 @@ #include "motion_velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp" -#include "eigen3/Eigen/Core" #include "motion_velocity_smoother/trajectory_utils.hpp" +#include + #include #include #include diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/eb_path_smoother.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/eb_path_smoother.hpp index e4ac55dba5f4..24a419c8bef6 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/eb_path_smoother.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/eb_path_smoother.hpp @@ -15,11 +15,12 @@ #ifndef OBSTACLE_AVOIDANCE_PLANNER__EB_PATH_SMOOTHER_HPP_ #define OBSTACLE_AVOIDANCE_PLANNER__EB_PATH_SMOOTHER_HPP_ -#include "eigen3/Eigen/Core" #include "obstacle_avoidance_planner/common_structs.hpp" #include "obstacle_avoidance_planner/type_alias.hpp" #include "osqp_interface/osqp_interface.hpp" +#include + #include #include #include diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp index b62cf1f9322f..b68c54ae51f2 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp @@ -15,8 +15,6 @@ #ifndef OBSTACLE_AVOIDANCE_PLANNER__MPT_OPTIMIZER_HPP_ #define OBSTACLE_AVOIDANCE_PLANNER__MPT_OPTIMIZER_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/Sparse" #include "gtest/gtest.h" #include "interpolation/linear_interpolation.hpp" #include "interpolation/spline_interpolation_points_2d.hpp" @@ -27,6 +25,9 @@ #include "tier4_autoware_utils/tier4_autoware_utils.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" +#include +#include + #include #include #include diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/geometry_utils.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/geometry_utils.hpp index 6673058ba59a..1ec61f583f66 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/geometry_utils.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/geometry_utils.hpp @@ -15,7 +15,6 @@ #ifndef OBSTACLE_AVOIDANCE_PLANNER__UTILS__GEOMETRY_UTILS_HPP_ #define OBSTACLE_AVOIDANCE_PLANNER__UTILS__GEOMETRY_UTILS_HPP_ -#include "eigen3/Eigen/Core" #include "interpolation/linear_interpolation.hpp" #include "interpolation/spline_interpolation.hpp" #include "interpolation/spline_interpolation_points_2d.hpp" @@ -24,6 +23,8 @@ #include "obstacle_avoidance_planner/type_alias.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" +#include + #include "autoware_auto_planning_msgs/msg/path_point.hpp" #include "autoware_auto_planning_msgs/msg/trajectory.hpp" diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp index 3a2d58491199..14a0bacff334 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp @@ -15,7 +15,6 @@ #ifndef OBSTACLE_AVOIDANCE_PLANNER__UTILS__TRAJECTORY_UTILS_HPP_ #define OBSTACLE_AVOIDANCE_PLANNER__UTILS__TRAJECTORY_UTILS_HPP_ -#include "eigen3/Eigen/Core" #include "interpolation/linear_interpolation.hpp" #include "interpolation/spline_interpolation.hpp" #include "interpolation/spline_interpolation_points_2d.hpp" @@ -23,6 +22,8 @@ #include "obstacle_avoidance_planner/common_structs.hpp" #include "obstacle_avoidance_planner/type_alias.hpp" +#include + #include "autoware_auto_planning_msgs/msg/path_point.hpp" #include "autoware_auto_planning_msgs/msg/trajectory.hpp" diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/vehicle_model/vehicle_model_bicycle_kinematics.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/vehicle_model/vehicle_model_bicycle_kinematics.hpp index 13fd2995befb..f892b0b8d13d 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/vehicle_model/vehicle_model_bicycle_kinematics.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/vehicle_model/vehicle_model_bicycle_kinematics.hpp @@ -15,10 +15,11 @@ #ifndef OBSTACLE_AVOIDANCE_PLANNER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ #define OBSTACLE_AVOIDANCE_PLANNER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "obstacle_avoidance_planner/vehicle_model/vehicle_model_interface.hpp" +#include +#include + #include class KinematicsBicycleModel : public VehicleModelInterface diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/vehicle_model/vehicle_model_interface.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/vehicle_model/vehicle_model_interface.hpp index 77dbaa80c7bb..3fd0129315ed 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/vehicle_model/vehicle_model_interface.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/vehicle_model/vehicle_model_interface.hpp @@ -15,8 +15,8 @@ #ifndef OBSTACLE_AVOIDANCE_PLANNER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ #define OBSTACLE_AVOIDANCE_PLANNER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/Sparse" +#include +#include #include diff --git a/planning/obstacle_avoidance_planner/package.xml b/planning/obstacle_avoidance_planner/package.xml index 6aa659ff6008..5da94d1c25d7 100644 --- a/planning/obstacle_avoidance_planner/package.xml +++ b/planning/obstacle_avoidance_planner/package.xml @@ -12,8 +12,7 @@ Takayuki Murooka ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_planning_msgs geometry_msgs diff --git a/planning/obstacle_cruise_planner/package.xml b/planning/obstacle_cruise_planner/package.xml index a9c914f1bb6d..a7c234674213 100644 --- a/planning/obstacle_cruise_planner/package.xml +++ b/planning/obstacle_cruise_planner/package.xml @@ -13,8 +13,7 @@ Yutaka Shimizu ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_perception_msgs diff --git a/planning/obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp b/planning/obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp index 33a742fe1ab0..ff96994a4a09 100644 --- a/planning/obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp +++ b/planning/obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp @@ -14,7 +14,7 @@ #include "obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp" -#include +#include #include diff --git a/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp b/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp index eaec6021f83a..23000d97ec78 100644 --- a/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp +++ b/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp @@ -30,8 +30,8 @@ #include #include #define EIGEN_MPL2_ONLY -#include -#include +#include +#include #include namespace motion_planning { diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml index e167604e4cdf..36ffca308981 100644 --- a/planning/obstacle_stop_planner/package.xml +++ b/planning/obstacle_stop_planner/package.xml @@ -17,8 +17,7 @@ Yukihiro Saito ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_perception_msgs diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp index 9cc767b066d9..88984c833caf 100644 --- a/planning/obstacle_stop_planner/src/node.cpp +++ b/planning/obstacle_stop_planner/src/node.cpp @@ -24,8 +24,8 @@ #include "obstacle_stop_planner/node.hpp" #include "obstacle_stop_planner/planner_utils.hpp" -#include -#include +#include +#include #include #include diff --git a/planning/planning_debug_tools/package.xml b/planning/planning_debug_tools/package.xml index 9cee8bfdac06..deadcd54fffd 100644 --- a/planning/planning_debug_tools/package.xml +++ b/planning/planning_debug_tools/package.xml @@ -11,9 +11,9 @@ Takamasa Horibe ament_cmake_auto + autoware_cmake eigen3_cmake_module - autoware_cmake rosidl_default_generators autoware_auto_planning_msgs diff --git a/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp index 0c77498cb9f5..54407df14aa7 100644 --- a/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp +++ b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp @@ -90,7 +90,8 @@ class PlanningInterfaceTestManager public: PlanningInterfaceTestManager(); - void publishOdometry(rclcpp::Node::SharedPtr target_node, std::string topic_name); + void publishOdometry( + rclcpp::Node::SharedPtr target_node, std::string topic_name, const double shift = 0.0); void publishInitialPose( rclcpp::Node::SharedPtr target_node, std::string topic_name, const double shift = 0.0); diff --git a/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp index 2f690b329e84..6e281dfed73f 100644 --- a/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp +++ b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp @@ -235,10 +235,10 @@ HADMapBin makeMapBinMsg() return map_bin_msg; } -Odometry makeOdometry() +Odometry makeOdometry(const double shift = 0.0) { Odometry odometry; - const std::array start_pose{5.5, 4., M_PI_2}; + const std::array start_pose{0.0, shift, 0.0, 0.0}; odometry.pose.pose = createPose(start_pose); odometry.header.frame_id = "map"; return odometry; @@ -353,14 +353,15 @@ void spinSomeNodes( template void publishToTargetNode( rclcpp::Node::SharedPtr test_node, rclcpp::Node::SharedPtr target_node, std::string topic_name, - typename rclcpp::Publisher::SharedPtr publisher, T data, const int repeat_count = 1) + typename rclcpp::Publisher::SharedPtr publisher, T data, const int repeat_count = 3) { - test_utils::setPublisher(test_node, topic_name, publisher); - publisher->publish(data); if (topic_name.empty()) { - throw std::runtime_error( - std::string("Topic name for ") + typeid(*publisher).name() + " is empty"); + throw std::runtime_error(std::string("Topic name for ") + typeid(data).name() + " is empty"); } + + test_utils::setPublisher(test_node, topic_name, publisher); + publisher->publish(data); + if (target_node->count_subscribers(topic_name) == 0) { throw std::runtime_error("No subscriber for " + topic_name); } diff --git a/planning/planning_test_utils/package.xml b/planning/planning_test_utils/package.xml index ec025b57eea6..c631603cf71b 100644 --- a/planning/planning_test_utils/package.xml +++ b/planning/planning_test_utils/package.xml @@ -3,7 +3,7 @@ planning_test_utils 0.1.0 - ROS2 node for testing interface of the nodes in planning module + ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe Apache License 2.0 @@ -11,8 +11,7 @@ Kyoichi Sugahara ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_control_msgs autoware_auto_mapping_msgs diff --git a/planning/planning_test_utils/src/planning_interface_test_manager.cpp b/planning/planning_test_utils/src/planning_interface_test_manager.cpp index db3942d58387..84a4da0b8e7b 100644 --- a/planning/planning_test_utils/src/planning_interface_test_manager.cpp +++ b/planning/planning_test_utils/src/planning_interface_test_manager.cpp @@ -26,10 +26,10 @@ PlanningInterfaceTestManager::PlanningInterfaceTestManager() } void PlanningInterfaceTestManager::publishOdometry( - rclcpp::Node::SharedPtr target_node, std::string topic_name) + rclcpp::Node::SharedPtr target_node, std::string topic_name, const double shift) { test_utils::publishToTargetNode( - test_node_, target_node, topic_name, odom_pub_, test_utils::makeOdometry()); + test_node_, target_node, topic_name, odom_pub_, test_utils::makeOdometry(shift)); } void PlanningInterfaceTestManager::publishMaxVelocity( @@ -388,7 +388,6 @@ void PlanningInterfaceTestManager::testOffTrackFromRoute(rclcpp::Node::SharedPtr const std::vector deviation_from_route = {0.0, 1.0, 10.0, 100.0}; for (const auto & deviation : deviation_from_route) { publishInitialPose(target_node, input_initial_pose_name_, deviation); - test_utils::spinSomeNodes(test_node_, target_node, 5); } } @@ -401,14 +400,22 @@ void PlanningInterfaceTestManager::testOffTrackFromPath(rclcpp::Node::SharedPtr void PlanningInterfaceTestManager::testOffTrackFromPathWithLaneId( rclcpp::Node::SharedPtr target_node) { - // write me - (void)target_node; + publishNominalPathWithLaneId(target_node, input_path_with_lane_id_name_); + + const std::vector deviation_from_path = {0.0, 1.0, 10.0, 100.0}; + for (const auto & deviation : deviation_from_path) { + publishOdometry(target_node, input_odometry_name_, deviation); + } } void PlanningInterfaceTestManager::testOffTrackFromTrajectory(rclcpp::Node::SharedPtr target_node) { - // write me - (void)target_node; + publishNominalTrajectory(target_node, input_trajectory_name_); + + const std::vector deviation_from_traj = {0.0, 1.0, 10.0, 100.0}; + for (const auto & deviation : deviation_from_traj) { + publishOdometry(target_node, input_odometry_name_, deviation); + } } int PlanningInterfaceTestManager::getReceivedTopicNum() diff --git a/planning/planning_validator/package.xml b/planning/planning_validator/package.xml index 68c640346c75..685c2823796c 100644 --- a/planning/planning_validator/package.xml +++ b/planning/planning_validator/package.xml @@ -12,7 +12,7 @@ Yutaka Shimizu ament_cmake_auto - autoware_cmake + autoware_cmake rosidl_default_generators autoware_auto_planning_msgs diff --git a/planning/route_handler/package.xml b/planning/route_handler/package.xml index fb863d2e825b..fc38d0284579 100644 --- a/planning/route_handler/package.xml +++ b/planning/route_handler/package.xml @@ -13,8 +13,7 @@ Fumiya Watanabe ament_cmake_auto - - autoware_cmake + autoware_cmake ament_lint_auto autoware_lint_common diff --git a/planning/rtc_auto_mode_manager/package.xml b/planning/rtc_auto_mode_manager/package.xml index dc6d452df064..e9c16aac1bb9 100644 --- a/planning/rtc_auto_mode_manager/package.xml +++ b/planning/rtc_auto_mode_manager/package.xml @@ -13,8 +13,7 @@ Fumiya Watanabe ament_cmake_auto - - autoware_cmake + autoware_cmake rclcpp rclcpp_components diff --git a/planning/rtc_replayer/package.xml b/planning/rtc_replayer/package.xml index 9101a1e86633..17c5a760173d 100644 --- a/planning/rtc_replayer/package.xml +++ b/planning/rtc_replayer/package.xml @@ -13,8 +13,7 @@ Fumiya Watanabe ament_cmake_auto - - autoware_cmake + autoware_cmake rclcpp rclcpp_components diff --git a/planning/scenario_selector/package.xml b/planning/scenario_selector/package.xml index b1a21a15a93f..7dd9fc071976 100644 --- a/planning/scenario_selector/package.xml +++ b/planning/scenario_selector/package.xml @@ -3,7 +3,7 @@ scenario_selector 0.1.0 - The scenario_selector ROS2 package + The scenario_selector ROS 2 package Kenji Miyake Taiki Tanaka Tomoya Kimura @@ -17,8 +17,7 @@ Kenji Miyake ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_auto_planning_msgs diff --git a/planning/static_centerline_optimizer/package.xml b/planning/static_centerline_optimizer/package.xml index 0cdd6b58c74a..c30a9f2807df 100644 --- a/planning/static_centerline_optimizer/package.xml +++ b/planning/static_centerline_optimizer/package.xml @@ -11,8 +11,8 @@ Takayuki Murooka ament_cmake_auto + autoware_cmake - autoware_cmake rosidl_default_generators autoware_auto_mapping_msgs diff --git a/planning/surround_obstacle_checker/package.xml b/planning/surround_obstacle_checker/package.xml index e1d31acbaba1..1f99ba8d2fcb 100644 --- a/planning/surround_obstacle_checker/package.xml +++ b/planning/surround_obstacle_checker/package.xml @@ -10,10 +10,9 @@ Satoshi Ota ament_cmake + autoware_cmake eigen3_cmake_module - autoware_cmake - autoware_adapi_v1_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs diff --git a/sensing/geo_pos_conv/CHANGELOG.rst b/sensing/geo_pos_conv/CHANGELOG.rst index ead6db443a67..12d311b5aaa5 100644 --- a/sensing/geo_pos_conv/CHANGELOG.rst +++ b/sensing/geo_pos_conv/CHANGELOG.rst @@ -4,7 +4,7 @@ Changelog for package geo_pos_conv 2.0.0 (2020-10-03) ------------------ -* Convert package to ROS2 +* Convert package to ROS 2 1.11.0 (2019-03-21) ------------------- diff --git a/sensing/geo_pos_conv/package.xml b/sensing/geo_pos_conv/package.xml index 0d7cbe47fdec..b82ea443ef7d 100644 --- a/sensing/geo_pos_conv/package.xml +++ b/sensing/geo_pos_conv/package.xml @@ -3,14 +3,13 @@ geo_pos_conv 2.0.0 - The ROS2 geo_pos_conv package + The ROS 2 geo_pos_conv package Yamato Ando Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake rclcpp diff --git a/sensing/gnss_poser/package.xml b/sensing/gnss_poser/package.xml index 250122b929e7..4887494614a8 100644 --- a/sensing/gnss_poser/package.xml +++ b/sensing/gnss_poser/package.xml @@ -3,14 +3,14 @@ gnss_poser 1.0.0 - The ROS2 gnss_poser package + The ROS 2 gnss_poser package Yamato Ando Apache License 2.0 Ryo Watanabe ament_cmake_auto + autoware_cmake - autoware_cmake libboost-dev autoware_sensing_msgs diff --git a/sensing/image_transport_decompressor/package.xml b/sensing/image_transport_decompressor/package.xml index 631e72d1c429..264a8f249da3 100644 --- a/sensing/image_transport_decompressor/package.xml +++ b/sensing/image_transport_decompressor/package.xml @@ -17,8 +17,7 @@ Julius Kammerl ament_cmake_auto - - autoware_cmake + autoware_cmake cv_bridge rclcpp diff --git a/sensing/imu_corrector/package.xml b/sensing/imu_corrector/package.xml index ce85a4218662..bd067e00e4c4 100644 --- a/sensing/imu_corrector/package.xml +++ b/sensing/imu_corrector/package.xml @@ -3,14 +3,13 @@ imu_corrector 1.0.0 - The ROS2 imu_corrector package + The ROS 2 imu_corrector package Yamato Ando Apache License 2.0 Yamato Ando ament_cmake_auto - - autoware_cmake + autoware_cmake rclcpp rclcpp_components diff --git a/sensing/livox/livox_tag_filter/package.xml b/sensing/livox/livox_tag_filter/package.xml index 50f80e4c5b47..f60bef1de5f1 100644 --- a/sensing/livox/livox_tag_filter/package.xml +++ b/sensing/livox/livox_tag_filter/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake libpcl-all-dev pcl_conversions diff --git a/sensing/pointcloud_preprocessor/package.xml b/sensing/pointcloud_preprocessor/package.xml index 856f7d2bc6f9..4b406c55251e 100644 --- a/sensing/pointcloud_preprocessor/package.xml +++ b/sensing/pointcloud_preprocessor/package.xml @@ -3,7 +3,7 @@ pointcloud_preprocessor 0.1.0 - The ROS2 pointcloud_preprocessor package + The ROS 2 pointcloud_preprocessor package amc-nu Yukihiro Saito Shunsuke Miura @@ -15,8 +15,7 @@ William Woodall ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_vehicle_msgs autoware_point_types diff --git a/sensing/radar_scan_to_pointcloud2/package.xml b/sensing/radar_scan_to_pointcloud2/package.xml index dc6ba43812ce..2360e8b33901 100644 --- a/sensing/radar_scan_to_pointcloud2/package.xml +++ b/sensing/radar_scan_to_pointcloud2/package.xml @@ -9,6 +9,7 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake pcl_conversions pcl_ros @@ -17,7 +18,6 @@ rclcpp_components sensor_msgs - autoware_cmake ament_clang_format ament_lint_auto ament_lint_common diff --git a/sensing/radar_static_pointcloud_filter/package.xml b/sensing/radar_static_pointcloud_filter/package.xml index 30739d5578cb..a15aa43d71cf 100644 --- a/sensing/radar_static_pointcloud_filter/package.xml +++ b/sensing/radar_static_pointcloud_filter/package.xml @@ -9,6 +9,7 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake message_filters nav_msgs @@ -20,7 +21,6 @@ tf2_ros tier4_autoware_utils - autoware_cmake ament_clang_format ament_lint_auto ament_lint_common diff --git a/sensing/radar_threshold_filter/package.xml b/sensing/radar_threshold_filter/package.xml index ab364d2b3a83..00bb530567dc 100644 --- a/sensing/radar_threshold_filter/package.xml +++ b/sensing/radar_threshold_filter/package.xml @@ -9,12 +9,12 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake radar_msgs rclcpp rclcpp_components - autoware_cmake ament_clang_format ament_lint_auto ament_lint_common diff --git a/sensing/tier4_pcl_extensions/package.xml b/sensing/tier4_pcl_extensions/package.xml index 0e29da999a44..22b053bd7c78 100644 --- a/sensing/tier4_pcl_extensions/package.xml +++ b/sensing/tier4_pcl_extensions/package.xml @@ -8,11 +8,11 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake eigen3_cmake_module eigen3_cmake_module - autoware_cmake eigen range-v3 diff --git a/sensing/vehicle_velocity_converter/package.xml b/sensing/vehicle_velocity_converter/package.xml index e6816afb8b51..c44c55bcd40e 100644 --- a/sensing/vehicle_velocity_converter/package.xml +++ b/sensing/vehicle_velocity_converter/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_vehicle_msgs geometry_msgs diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml index b24a015d21dd..0632bd90b2c2 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/dummy_perception_publisher/package.xml @@ -8,8 +8,8 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake - autoware_cmake rosidl_default_generators rosidl_default_runtime diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml index 3b3cd5ca6c45..e169a338b4e5 100644 --- a/simulator/fault_injection/package.xml +++ b/simulator/fault_injection/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake diagnostic_aggregator diagnostic_msgs diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp index 057b2418450e..9e7c101e7640 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp @@ -15,10 +15,11 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include +#include + #include #include #include diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp index bc6e807144b5..1beec46a48ee 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp @@ -15,10 +15,11 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include +#include + #include #include #include diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp index 047742a2e8fa..30cf5d3c7c24 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp @@ -15,10 +15,11 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include +#include + #include #include #include diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp index d48e744ee93e..e4fcaa59f129 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp @@ -15,10 +15,11 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include +#include + #include /** diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp index 95e105592d2e..55b5ddb8fcec 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp @@ -15,10 +15,11 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include +#include + #include /** diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp index cc4b1b4ea365..09046cab89dc 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp @@ -15,10 +15,11 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_ -#include "eigen3/Eigen/Core" -#include "eigen3/Eigen/LU" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include +#include + #include /** * @class SimModelIdealSteerVel diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp index 40711cfe9e72..981fb0f416d7 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp @@ -15,7 +15,7 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_ -#include "eigen3/Eigen/Core" +#include #include "autoware_auto_vehicle_msgs/msg/gear_command.hpp" diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index ca4766f875db..c83433d35bb1 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -9,8 +9,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_control_msgs autoware_auto_planning_msgs diff --git a/system/bluetooth_monitor/package.xml b/system/bluetooth_monitor/package.xml index 12f3e8088d7d..3f489d9ba29a 100644 --- a/system/bluetooth_monitor/package.xml +++ b/system/bluetooth_monitor/package.xml @@ -8,8 +8,8 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake - autoware_cmake libboost-serialization-dev diagnostic_msgs diff --git a/system/component_state_monitor/package.xml b/system/component_state_monitor/package.xml index 310de4fcc001..ce2078770403 100644 --- a/system/component_state_monitor/package.xml +++ b/system/component_state_monitor/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake diagnostic_msgs rclcpp diff --git a/system/default_ad_api/package.xml b/system/default_ad_api/package.xml index f6f43a82f744..d99037fdc42d 100644 --- a/system/default_ad_api/package.xml +++ b/system/default_ad_api/package.xml @@ -12,8 +12,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_ad_api_specs autoware_adapi_v1_msgs diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index 7774c8acbe94..e54a5faa6e1b 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -12,8 +12,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_ad_api_specs autoware_adapi_v1_msgs diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index a8172d1ced9a..10f4abfe446f 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -12,8 +12,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_ad_api_specs autoware_adapi_v1_msgs diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml index 191facf6e377..86da760b99a4 100644 --- a/system/dummy_diag_publisher/package.xml +++ b/system/dummy_diag_publisher/package.xml @@ -3,15 +3,14 @@ dummy_diag_publisher 0.1.0 - The dummy_diag_publisher ROS2 package + The dummy_diag_publisher ROS 2 package Kenji Miyake Akihiro Sakurai Fumihito Ito Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake diagnostic_updater fmt diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml index a36165654530..654feb5ffc7c 100644 --- a/system/dummy_infrastructure/package.xml +++ b/system/dummy_infrastructure/package.xml @@ -8,8 +8,8 @@ Apache License 2.0 ament_cmake_auto + autoware_cmake - autoware_cmake libboost-dev rclcpp diff --git a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp b/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp index 987e44ad340d..6d83c6781fad 100644 --- a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp +++ b/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp @@ -29,7 +29,7 @@ #include #include -// ROS2 core +// ROS 2 core #include #include diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml index babcd2853745..4ee6674b2f56 100644 --- a/system/emergency_handler/package.xml +++ b/system/emergency_handler/package.xml @@ -3,14 +3,13 @@ emergency_handler 0.1.0 - The emergency_handler ROS2 package + The emergency_handler ROS 2 package Kenji Miyake Makoto Kurihara Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_control_msgs diff --git a/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp b/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp index c6f9a4be8902..7856c23fa315 100644 --- a/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp +++ b/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp @@ -25,7 +25,7 @@ #include #include -// ROS2 core +// ROS 2 core #include namespace mrm_comfortable_stop_operator diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml index a108f52f4bd6..881d1f0e81bd 100644 --- a/system/mrm_comfortable_stop_operator/package.xml +++ b/system/mrm_comfortable_stop_operator/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs rclcpp diff --git a/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp b/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp index 2ac6321caab5..19e41397fe4d 100644 --- a/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp +++ b/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp @@ -24,7 +24,7 @@ #include #include -// ROS2 core +// ROS 2 core #include namespace mrm_emergency_stop_operator diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml index 0761a1cbb998..54ad68f00537 100644 --- a/system/mrm_emergency_stop_operator/package.xml +++ b/system/mrm_emergency_stop_operator/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_adapi_v1_msgs autoware_auto_control_msgs diff --git a/system/system_error_monitor/package.xml b/system/system_error_monitor/package.xml index be25f799af45..ba8a682204f5 100644 --- a/system/system_error_monitor/package.xml +++ b/system/system_error_monitor/package.xml @@ -3,14 +3,13 @@ system_error_monitor 0.1.1 - The system_error_monitor package in ROS2 + The system_error_monitor package in ROS 2 Kenji Miyake Fumihito Ito Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_system_msgs autoware_auto_vehicle_msgs diff --git a/system/system_monitor/CMakeLists.txt b/system/system_monitor/CMakeLists.txt index 391c82a09c96..be3f8fadc8a8 100644 --- a/system/system_monitor/CMakeLists.txt +++ b/system/system_monitor/CMakeLists.txt @@ -186,7 +186,7 @@ rclcpp_components_register_node(voltage_monitor_lib EXECUTABLE voltage_monitor ) -# TODO(yunus.caliskan): Port the tests to ROS2, robustify the tests. +# TODO(yunus.caliskan): Port the tests to ROS 2, robustify the tests. if(BUILD_TESTING) # ament_add_ros_isolated_gtest(test_cpu_monitor # test/src/cpu_monitor/test_${CMAKE_CPU_PLATFORM}_cpu_monitor.cpp diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml index bc4b040051d3..470e82e3dd75 100644 --- a/system/system_monitor/package.xml +++ b/system/system_monitor/package.xml @@ -9,8 +9,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake diagnostic_msgs diagnostic_updater diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml index 2707a74ff541..3405a63b4af3 100644 --- a/system/topic_state_monitor/package.xml +++ b/system/topic_state_monitor/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake ament_index_cpp diagnostic_updater diff --git a/system/velodyne_monitor/package.xml b/system/velodyne_monitor/package.xml index 9c6683511c2c..384456673d32 100644 --- a/system/velodyne_monitor/package.xml +++ b/system/velodyne_monitor/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake crypto++ diagnostic_msgs diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml index 8163a1209883..64e7d1fb105c 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml @@ -11,8 +11,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_vehicle_msgs diagnostic_updater diff --git a/vehicle/external_cmd_converter/package.xml b/vehicle/external_cmd_converter/package.xml index af7200c6f51b..d9301e23e05f 100644 --- a/vehicle/external_cmd_converter/package.xml +++ b/vehicle/external_cmd_converter/package.xml @@ -10,8 +10,7 @@ Takamasa Horibe ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_control_msgs autoware_auto_vehicle_msgs diff --git a/vehicle/raw_vehicle_cmd_converter/package.xml b/vehicle/raw_vehicle_cmd_converter/package.xml index c48f2c0bed77..d68f4601aab6 100644 --- a/vehicle/raw_vehicle_cmd_converter/package.xml +++ b/vehicle/raw_vehicle_cmd_converter/package.xml @@ -15,8 +15,7 @@ Tanaka Taiki ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_control_msgs autoware_auto_vehicle_msgs diff --git a/vehicle/steer_offset_estimator/package.xml b/vehicle/steer_offset_estimator/package.xml index f2c01c9fb2fc..242ec5f2f148 100644 --- a/vehicle/steer_offset_estimator/package.xml +++ b/vehicle/steer_offset_estimator/package.xml @@ -7,7 +7,7 @@ Apache License 2.0 ament_cmake_auto - autoware_cmake + autoware_cmake autoware_auto_vehicle_msgs diagnostic_updater diff --git a/vehicle/vehicle_info_util/package.xml b/vehicle/vehicle_info_util/package.xml index 4db17aa6f13b..41cb10003a1d 100644 --- a/vehicle/vehicle_info_util/package.xml +++ b/vehicle/vehicle_info_util/package.xml @@ -14,8 +14,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake rclcpp tier4_autoware_utils