fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing #909
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… turn_signal processing
h-ohta
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h-ohta
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Oct 13, 2023
…ds 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>
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Sep 17, 2024
…ot 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>
asa-naki
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Sep 17, 2024
…ds 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>
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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
#782 において、behavior_pathの出力経路をspline補間するように修正したが、turn_signalの処理はspline補間を実施しないのが前提のロジックとなってしまっっているため、チャタリングする問題が発生していた
そこで、spline補間する対象をbehavior_pathの出力経路に限定し、turn_signalの処理にはspline補間をしない経路を与えるかたちに修正する
Related links
https://tier4.atlassian.net/browse/AEAP-768
Tests performed
AEAP-768で問題が出ている箇所を走行し、turn_signalがチャタリングしないことを確認した
Notes for reviewers
Interface changes
Effects on system behavior
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