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feat(obstacle_cruise_planner): support pointcloud-based obstacles (#6907
) * add pointcloud to obstacle properties * add tf listener & pointcloud subscriber * add parameters for pointcloud obstacle * add type aliases * convert pointcloud to obstacle * add type alias * add polygon conversion for pointcloud obstacle * initialize twist & pose of pointcloud obstacle * overload to handle both obstacle & predicted path * implement ego behavior determination against pointcloud obstacles * generate obstacle from point * revert getCollisionIndex() * generate obstacle from each point in cloud * set pointcloud obstacle velocity to 0 * use tf buffer & listener with pointers * update latest pointcloud data * add topic remap * remove unnecessary includes * set slow down obstacle velocity to 0 * add flag to consider pointcloud obstacle for stopping & slowing down * style(pre-commit): autofix * downsample pointcloud using voxel grid * change shape type of pointcloud obstacle to polygon * convert pointcloud to obstacle by clustering * add parameters for clustering * add max_num_points parameter to dummy object * downsample pointcloud when the number of points is larger than max_num_points * add max_num_points property to dummy bus * add parameters for pointcloud based obstacles * store pointcloud in obstacle struct * change obstacle conversion method * migrate previous changes to new package * store necessary points only * move use_pointcloud to common parameter * extract necessary points from pointcloud * add use_pointcloud parameter to planner interface * fix obstacle conversion * fix collision point determination * simplify pointcloud transformation * style(pre-commit): autofix * fix collision point determination * pick nearest stop collision point * check collision for every point in cluster * migrate previous changes to new files * reduce diff * remove use_pointcloud parameter * add parameters for pointcloud filtering * add autoware namespace * Revert "add max_num_points parameter to dummy object" This reverts commit 98bcd08. * Revert "downsample pointcloud when the number of points is larger than max_num_points" This reverts commit fb00b59. * Revert "add max_num_points property to dummy bus" This reverts commit 5f9e4ab. * feat(diagnostic_graph_utils): add logging tool Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix all OK Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat(default_ad_api): add log when operation mode change fails Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * get only the necessary one of object or pointcloud data * addfield for obstacle source type * enable simultaneous use of PredictedObjects and PointCloud * separate convertToObstacles() by source type * avoid using pointer * reduce diff * make nest shallower * define vector concatenate function * shorten variable names * fix redundant condition --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
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