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fix(planning_launch): replace lost count to lost time for avoidance #384
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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
4 tasks
zulfaqar-azmi-t4
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feat/lost-object-hold-using-time-instead-of-count
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Jan 21, 2023
* Disbale intersection polygon marker (#483) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Merge pull request #384 from tier4/feature/no_stopping_area Feature/no stopping area Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
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Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp
PR Type
Related Links
autowarefoundation/autoware.universe#1142 (review)
Description
The PR aims to replace integer count to time-based.
Previous perception lost is handle by counting integer value lost_count parameter from the ObjectData. However, it might be suitable to use time-based as the metric. This PR aims to replace lost_count with last_seen.
Note behavior changes should be observed.
Review Procedure
Enable debug marker must be true.
Use PSIM to simulate avoidance by placing obstacle.
Then remove obstacle.
It should be remove somewhere after the time limit.
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