fix(virtual traffic light): suppress lauch #1290
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Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
yuki-takagi-66
changed the title
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@yuki-takagi-66 |
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
…s_launch' into fix/virtual_traffic_light/suppress_launch
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@yuki-takagi-66
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@yuki-takagi-66 approveしましたが、まだマージは待って下さい。 |
sfukuta
approved these changes
May 31, 2024
asa-naki
approved these changes
May 31, 2024
asa-naki
reviewed
May 31, 2024
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eve系のみなさんのタイミングでマージしていただけるとありがたいです。 |
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@yuki-takagi-66 |
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File changedとしての対策内容と、Descriptionにおける記載内容の対応関係がわかるように記載ください。 |
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@yn-mrse |
上記について、原因の表現を変更します。以下の表現で誤解はないか確認をお願いします。 behavior_planning/pathの後端がVTLのend_lineを含むlaneletを通過後、 |
上記、pathが、どのtopicのpathを指しているか分かるように、記載をして欲しいです。 |
→ JIRAより、外部的ない影響がない旨の回答をもらっているため、既存動作への影響は以下で、問題ないでしょうか？ 地図上のvirtual_traffic_lightに停止線が設定されていない場合は、変更後は内部的にモジュールの起動が行われず、停止線の埋め込みも行われません。変更前は、内部的にモジュールの起動はしますが、停止線は埋め込まれませんでした。 |
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Descriptionについて、マージ後に引き続き見直しが必要。 |
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kimurariku
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Sep 12, 2024
* suppress launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add existence check Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com>
asa-naki
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Sep 17, 2024
* suppress launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add existence check Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com>
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* fix(system_monitor): extend command line to display (backport autowarefoundation#4553) (#768) fix(system_monitor): extend command line to display (autowarefoundation#4553) Signed-off-by: ito-san <fumihito.ito@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> * feat(behavior_path_planner): resample output path (backport autowarefoundation#1604) (#782) feat(behavior_path_planner): resample output path (autowarefoundation#1604) * feat(behavior_path_planner): resample output path * update param Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> * ci: add dispatch-push-event workflow (#803) * ci: add dispatch-push-event workflow Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * fix: change APP KEY Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: use strategy Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: change trigger Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * pre-commit fixes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * Update .github/workflows/dispatch-push-event.yaml * Update .github/workflows/dispatch-push-event.yaml * style(pre-commit): autofix * Update .github/workflows/dispatch-push-event.yaml --------- Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909) * fix(behavior_path): only apply spline interpolate for output, not for turn_signal processing * fix implementation * ci(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(behavior_path): fix base points vanishing and inconsistent lane_ids on the spline interpolated path (#929) * add base points to resampled path in behavior_path * Revert "fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909)" This reverts commit c80c986. * ci(pre-commit): autofix * fix insert * fix: not interpolate behavior velocity path * Revert "Revert "fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909)"" This reverts commit e6dd540. --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(system_monitor): fix program command line reading (backport autowarefoundation#5191, autowarefoundation#5430) (#995) * perf(system_monitor): fix program command line reading (autowarefoundation#5191) * Fix program command line reading Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * fix spelling commandline->command_line Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(system_monitor): output command line (autowarefoundation#5430) * fix(system_monitor): output command line Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com> * feat(obstacle_stop): upd obstacle hunting (#1068) * Adapted from PR #1458 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR autowarefoundation#1627 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * fix parameter name Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR autowarefoundation#2647 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * ci(pre-commit): autofix * fix build error * ci(pre-commit): autofix * remove comment line * remove logic * Delete parameters other than those added this time * ci(pre-commit): autofix * add stop vehicle check * ci(pre-commit): autofix * fix stop velocity threshold * fix engage obstacle clear and stop threshold * ci(pre-commit): autofix --------- Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(obstacle_avoidance_planner): add empty check (#1285) * fix(obstacle_avoidance_planner): add empty check * ci(pre-commit): autofix * add invalid_argument * delete empty check * return code moved to end * add warning log * update rclcpp_debug * delete debug log * Delete unnecessary blank lines --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(virtual traffic light): suppress lauch (#1290) * suppress launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add existence check Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com> * revert: #929,#909,#782 * revert: #1068 - d56c191. --------- Signed-off-by: ito-san <fumihito.ito@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com> Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
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Description
https://tier4.atlassian.net/browse/AEAP-1145 の修正PRです。
発生している現象
走行中に、End Line通過済みのVTLが反応して、Stop Lineが表示される事がある
現象による影響
本件の原因
behavior_planning/pathの後端がVTLのend_lineを含むlaneletを通過後、
経路計画の再計画により、behavior_planning/pathの後端が通過済みVTLのend_lineを含むlaneletに再度侵入した場合、通過済みのVTLが再度起動するため。
対策
通過し終わったVTLに対して、同じVTLが再度起動しないようにする修正
対策として、起動条件を狭めるべく、pathがstop_lineと交点を持つことを起動条件に加えました。
そのために、stop_lineが空でないことと、pathの型変換もあわせて行っております。
この修正により問題が再現しなくなることを確認しました。
VTLのstop lineが出力されるロジック
virtual traffice lightモジュールが起動した時点で、stop lineを通過していないという初期値が設定される事で、
stop lineが表示される仕組みとなっている。
/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id（後退含む）がend_lineを含むlaneletの交点を持つ場合VTLのstop lineが出力されるロジック上の問題
Pathの後端がend_lineを含むlaneletから一旦出た後に、Pathの後端が再び入った場合に、
virtual traffic lightが再起動してしまう問題がある。
VTLのstop lineが出力されるロジックに対するアプローチ
Pathの後端がend_lineを含むlaneletから一旦出た後に、Pathの後端が再び入った場合に、
virtual traffic lightが不必要な再起動をしないように修正。
/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id`（後退含む）がend_lineを含むlaneletの交点を持つかつstop_lineと交点をもつ場合
解決策の妥当性
/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_idの後端がend_lineを含むlaneletから一旦出た後に再び入った場合に、stop_lineと交点を持たない場合は、VTLのstop lineが出力されない。/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id（後退含む）がstop_lineと交点を持つ時には、end line通過後でもVTLのstop lineが出力される。Tests performed
・本PRに対する既存動作へ影響
地図上のvirtual_traffic_lightに停止線が設定されていない場合は、変更後は内部的にモジュールの起動が行われず、停止線の埋め込みも行われません。変更前は、内部的にモジュールの起動はしますが、停止線は埋め込まれませんでした。
そのため、モジュール起動有無の違いはありますが、停止線の有無に変更がないため、外部的な挙動に変化はありません。
・テスト観点と実施条件・内容
手元のpsimで問題の再現方法と同様の環境でテストをし、virtual wallがでないことを確認しました。また、計算時間が既存処理と比べて十分に短いことを確認しました。
・修正に対する不具合確認に対して、リグレッションテストの有無と内容
P/Cでは、本変更により、無印pilot-autoとして他のモジュールに大きな悪影響がないことを確認しました。
Effects on system behavior
Not applicable.
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Note
eveに共有する必要がある。