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feat(motion_velocity_smoother): improve the velocity calculation of trajectory w.r.t. lateral acceleration limit #1164

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feat(motion_velocity_smoother): improve the velocity calculation of trajectory w.r.t. lateral acceleration limit #1164

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@brkay54 brkay54 commented Jun 24, 2022 •
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Description

In current implementation of lateral acceleration filtering in trajectory, we are estimating the curvature by selecting three point. Then, we are calculating the lateral acceleration with this curvature estimation. See here!

I want to suggest a new approach to estimate the curvature in trajectory points. We can estimate the curvature by using the orientation of trajectory points. I think orientation can give more accurate results because it is output of optimization.

We can calculate the desired steering angle with following equation:
desired_steering_angle_eq

After calculate the desired steering angles, tan(steering_angle) / wheelbase will give us the curvature of the trajectory point. We can set the velocities w.r.t. this calculation.

Related links

Closes #1163
Discussion
Related issue #567

Tests performed

I tested the both approach with control_performance_analysis.

Results (Before is current implementation, after is implementation with new approach):

Series Min Before Min After Max Before Max After Average Before Average After
/control_performance/driving_status/lateral_acceleration/data -0.414748 -0.404385 0.587819 0.570642 0.028891 0.025944
/control_performance/driving_status/lateral_jerk/data -4.37723 -3.515305 2.620279 2.488174 0.001978 -0.002855
/control_performance/driving_status/longitudinal_acceleration/data -0.912165 -0.992638 1.171741 1.169503 -0.00547 -0.001894
/control_performance/driving_status/longitudinal_jerk/data -37.579326 -38.59962 50.363508 64.01396 -0.043433 0.003336
/control_performance/performance_vars/error/control_effort_energy 1E-06 3E-06 3.751512 3.640998 0.548236 0.517991
/control_performance/performance_vars/error/curvature_estimate -0.196328 -0.15474 0.147634 0.14805 0.012307 0.011465
/control_performance/performance_vars/error/curvature_estimate_pp -0.685987 -0.659468 0.857495 0.864488 0.0036 0.016651
/control_performance/performance_vars/error/error_energy 3E-06 3E-06 725.076238 744.538529 16.453592 14.461468
/control_performance/performance_vars/error/heading_error -3.935703 -3.6235 0.131046 0.089199 -0.138134 -0.130147
/control_performance/performance_vars/error/heading_error_velocity -0.228567 -0.232441 0.357787 0.351656 0.013681 0.012888
/control_performance/performance_vars/error/lateral_error -0.201026 -0.203656 25.594785 24.925392 0.763545 0.690954
/control_performance/performance_vars/error/lateral_error_acceleration -0.677725 -0.646119 0.977959 0.961904 0.020453 0.020365
/control_performance/performance_vars/error/lateral_error_velocity -0.263545 -0.231912 3.613527 3.311932 0.080852 0.070448
/control_performance/performance_vars/error/longitudinal_error -1.416918 -1.687636 0.415556 0.557804 -0.02788 -0.024898
/control_performance/performance_vars/error/longitudinal_error_acceleration -0.879877 -0.888177 0.731259 0.756286 0.009436 0.000694
/control_performance/performance_vars/error/longitudinal_error_velocity -4.887811 -4.10775 0.486414 0.093616 -0.102476 -0.100788
/control_performance/performance_vars/error/tracking_curvature_discontinuity_ability 0 0 0.194609 0.149417 0.002406 0.002328
/control_performance/performance_vars/error/value_approximation 4E-06 2E-06 1157.290071 1141.501573 22.946368 20.431148
/control_performance/performance_vars/error/vehicle_velocity_error -0.25 -0.34384 4.550888 4.419915 0.089122 0.073407
iae_heading_error 0.070968 0.036298 2140.478331 1845.584953 1439.086766 1231.35816
iae_heading_velocity_error 0.260451 0.140809 839.786466 780.52647 438.247896 396.277805
iae_lateral_acceleration_error 0.062105 0.033544 2175.340398 2000.631767 1234.263002 1106.525029
iae_lateral_error 1211.975957 646.071468 11887.734163 9804.156735 8798.502473 7032.961661
iae_lateral_velocity_error 4.9E-05 1.5E-05 1779.449632 1556.360706 1223.726301 1037.138146
iae_longitudina_velocity_error 891.871092 475.582655 2458.981641 1861.455609 1950.962988 1390.603746
iae_longitudinal_acceleration_error 176.916485 93.702997 2746.845968 2458.832042 1752.962301 1549.778308
iae_longitudinal_error 0.00567 0.002785 447.159208 366.669203 306.049465 253.690967
iae_tracking_curvature_discontinuity_ability 0.000405 9E-06 31.055063 28.275924 14.034673 13.055478
rms_heading_error 0.070968 0.036298 2140.478331 1845.584953 1439.086766 1231.35816
rms_heading_velocity_error 0.260451 0.140809 839.786466 780.52647 438.247896 396.277805
rms_lateral_acceleration_error 0.062105 0.033544 2175.340398 2000.631767 1234.263002 1106.525029
rms_lateral_error 1211.975957 646.071468 11887.734163 9804.156735 8798.502473 7032.961661
rms_lateral_velocity_error 4.9E-05 1.5E-05 1779.449632 1556.360706 1223.726301 1037.138146
rms_longitudinal_acceleration_error 176.916485 93.702997 2746.845968 2458.832042 1752.962301 1549.778308
rms_longitudinal_error 0.00567 0.002785 447.159208 366.669203 306.049465 253.690967
rms_longitudinal_velocity_error 891.871092 475.582655 2458.981641 1861.455609 1950.962988 1390.603746
rms_tracking_curvature_discontinuity_ability 0.000405 9E-06 31.055063 28.275924 14.034673 13.055478

With new approach, maximum, total, average lateral errors decreased.

Notes for reviewers

You can test the PR with control_performance_analysis tool. For further information please read the readme

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@brkay54 brkay54 force-pushed the lateral-acceleration-limit branch from 15416a6 to ed51652 Compare June 24, 2022 00:24
@brkay54 brkay54 self-assigned this Jun 24, 2022
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Codecov Report

Merging #1164 (13fcdae) into main (c286f7c) will decrease coverage by 0.04%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1164      +/-   ##
========================================
- Coverage   9.22%   9.18%   -0.05%     
========================================
  Files       1038    1038              
  Lines      70868   71204     +336     
  Branches   14858   15129     +271     
========================================
+ Hits        6538    6539       +1     
- Misses     58710   58996     +286     
- Partials    5620    5669      +49
Flag Coverage Δ *Carryforward flag
differential 3.96% <0.00%> (?)
total 9.20% <0.00%> (ø) Carriedforward from c7b5c23

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
...ity_smoother/src/motion_velocity_smoother_node.cpp 0.28% <0.00%> (+0.07%) ⬆️
...n_velocity_smoother/src/smoother/smoother_base.cpp 0.00% <0.00%> (ø)
.../motion_velocity_smoother/src/trajectory_utils.cpp 0.00% <0.00%> (ø)

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maxime-clem
maxime-clem reviewed Jun 27, 2022
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The results look good and I only have some minor comments about the code.

planning/motion_velocity_smoother/src/smoother/smoother_base.cpp Outdated Show resolved Hide resolved
planning/motion_velocity_smoother/src/smoother/smoother_base.cpp Show resolved Hide resolved
planning/motion_velocity_smoother/src/trajectory_utils.cpp Outdated Show resolved Hide resolved
planning/motion_velocity_smoother/src/trajectory_utils.cpp Outdated Show resolved Hide resolved
planning/motion_velocity_smoother/src/trajectory_utils.cpp Outdated Show resolved Hide resolved
planning/motion_velocity_smoother/src/trajectory_utils.cpp Outdated Show resolved Hide resolved
planning/motion_velocity_smoother/src/trajectory_utils.cpp Outdated Show resolved Hide resolved
planning/motion_velocity_smoother/include/motion_velocity_smoother/trajectory_utils.hpp Show resolved Hide resolved
@brkay54
feat(motion_velocity_smoother): improve the velocity calculation of t…
abefade 
…rajectory w.r.t. lateral acceleration limit

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix

new curvature calculation function added


evaluation


get wheelbase from vehicle info util

Signed-off-by: Berkay <berkay@leodrive.ai>

ci(pre-commit): autofix
@brkay54
update wrt review
9c6d039 
Signed-off-by: Berkay <berkay@leodrive.ai>
@brkay54 brkay54 force-pushed the lateral-acceleration-limit branch from 2cc6cd8 to 9c6d039 Compare June 28, 2022 12:14
@brkay54 brkay54 requested a review from maxime-clem June 28, 2022 12:14
@brkay54
update
13fcdae 
Signed-off-by: Berkay <berkay@leodrive.ai>
@brkay54 brkay54 requested a review from maxime-clem June 28, 2022 13:05
@brkay54 brkay54 added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jun 28, 2022
yukkysaito pushed a commit to yukkysaito/autoware.universe that referenced this pull request Jun 29, 2022
@tkimura4 @mitsudome-r
@kenji-miyake @nnmm @jilaada @wep21 @ito-san @kmiya @s-murakami-esol @h-ohta @TakaHoribe @KeisukeShima @taikitanaka3 @isamu-takagi @1222-takeshi
feat: add autoware_error_monitor package (autowarefoundation#10)
374c896 
* release v0.4.0

* Change localization diag namespace (autowarefoundation#718)

* Change default value of output_diagnostics_topic

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove localization_diagnostic.js from web_controller

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Integrate localization diag to diagnostic_aggregator

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Delete old and unused publisher

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "remove ROS1 packages temporarily"

This reverts commit 63dc7f4e1defe5fd908eeefc7a2cdfac7cb47022.

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Rename launch files to launch.xml (autowarefoundation#28)

* ROS2 Porting: autoware_error_monitor (autowarefoundation#42)

* Temporary add the autoware_error_monitor package for conversion

* Renaming to adhere to convention
 - Modify CMakeList to compile using ROS2
 - TODO: fix FMT import

* Replace node implementation with ROS2 version
 - Rename core
 - Fix FMT library linking and ROS-related compilation erros
 - Add Readme
 - Add publisher and subscribers
 - Add timer

* Launch configurationse
 - Add ROS2 launch file
 - Modify config file with ROS2 conventions
 - Convert package.xml
 - Fix CMakelist
 - Bug fixes
   - Launch file correct indentation
   - Fix param.yaml to not use nested lists
   - Use as_string_array() when getting string array parameters

* Remove old files

* Fix cmake and package xml
 - Use ament cmake auto

* Fix parameters
 - Use dots as delimiters for nested parameter names
 - Move parameter declaration to constructor initialization list where possible
 - Update parameter file
 - Update launch files

* Fix launch and param files
 - Aggregator node doesn't appear to be working as expected with the launch files...
 - Fix cmake
 - Aggregator doesn't seem to allow multiple top level diagnostics

* Fix config

* Add rqt_robot_monitor to exec depends in package.xml

* Update rate should be converted to a period

Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>

* Address PR comment:
 - Change top level namespace to autoware

* Remove commented out code

* Address PR comment:
 - Fix root for keys
 - Correct update rate

Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>

* Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143)

* Use quotes for includes where appropriate (autowarefoundation#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

* Add linter tests (autowarefoundation#204)

* Ros2 v0.8.0 autoware error monitor (autowarefoundation#281)

* Rename ROS-related .yaml to .param.yaml (autowarefoundation#352)

* Rename ROS-related .yaml to .param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove prefix 'default_' of yaml files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename vehicle_info.yaml to vehicle_info.param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename diagnostic_aggregator's param files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix overlooked parameters

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ros2 v0.8.0 fix packages2 (autowarefoundation#354)

* fix topic name

* fix duration rate

* fix sensing.yaml

* fix topic name

* add latch-option to autoware_state_monitor

* fix timer callback

* fix autoware state monitor config

* fix sensing.yaml

* Fix autoware error monitor (autowarefoundation#362)

* Remove cpu_load_average

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Disable resource monitoring in planning_simulator

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix diagnostic_aggregator's params

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* [Update v0.9.0] system monitor (autowarefoundation#365)

* Disable CPU Load Average warning. (autowarefoundation#1147)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Fix cpu_monitor respawning forever. (autowarefoundation#1150)

* Disable cpu_temperature in planning simulation (autowarefoundation#1151)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Net Monitor: Handle as an error if specified device not exist. (autowarefoundation#1152)

* Handled as an error if specified device not exist.

* Disable network diags in simulation

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* apply ament_uncrustify

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Disable resource monitoring in planning_simulator (autowarefoundation#1172)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Treat logging errors as safe faults (autowarefoundation#1164)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix test code of system_monitor (autowarefoundation#1178)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Import v0.9.1 (autowarefoundation#431)

* add local optimal solution ocillation check to ndt_scan_matcher (autowarefoundation#1182)

* Add obstacle_crush diagnostic (autowarefoundation#1186)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix diagnostics api (autowarefoundation#1185)

* Fix diagnostics api

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Don't overwrite level

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Overwrite level of No Fault diagnostics

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add missing diag in autoware_error_monitor.yaml (autowarefoundation#1187)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Filter hazard_status (autowarefoundation#1191)

* Filter hazard_status

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Filter leaf diagnostics

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix wrong calculation of available memory. (autowarefoundation#1168)

* Fixed wrong calculation of available memory.

* Added comments about output example of free -tb command.

* Change monitoring method to get HDD temperature and usage per specified device. (autowarefoundation#1195)

* Changed monitoring method to get temperature and usage per specified device.

* Fixed test codes.

* Removed unnecessary (void) parameter.

* return input pointcloud when ground plane not found (autowarefoundation#1190)

* fix yaw-smoothing bug (autowarefoundation#1198)

* Fix lint

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* Fix typo in system module (autowarefoundation#434)

* Fix typo in system module

* Change variable name

* Move comments

* Apply uncrustify

* add use_sim-time option (autowarefoundation#454)

* Treat NTP offset error as safe fault (autowarefoundation#1220)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for rolling (autowarefoundation#1226)

* Replace doc by description

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Replace ns by push-ros-namespace

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix/fix porting miss (autowarefoundation#1254)

* Fix porting miss of vehicle_cmd_gate

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix mistake of autoware_error_monitor.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* error monitor for foa controller (autowarefoundation#1369)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add diagnostics config for ros2_socketcan (autowarefoundation#1447)

* Add markdownlint and prettier (autowarefoundation#1661)

* Add markdownlint and prettier

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore .param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix typo (autowarefoundation#1711)

* suppress warnings for declare parameters (autowarefoundation#1724)

* fix for lanelet2_extension

* fix for traffic light ssd fine detector

* fix for topic_state_monitor

* fix for dummy diag publisher

* fix for remote cmd converter

* fix for vehicle_info_util

* fix for multi object tracker

* fix for freespace planner

* fix for autoware_error_monitor

* add Werror for multi object tracker

* fix for multi object tracker

* add Werror for liraffic light ssd fine detector

* add Werror for topic state monitor

* add Werror

* add Werror

* add Werror

* add Werror

* fix style

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix mistake

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>

* enable autonomous recovery (autowarefoundation#1904)

* add aggregator config at planing error monitor (autowarefoundation#1955) (autowarefoundation#1963)

* add trajectory monitoring setting (autowarefoundation#2018)

* Fix typo `obstacle_crush` to `obstacle_crash` (autowarefoundation#2031)

* Use EmergencyState instead of deprecated EmergencyMode (autowarefoundation#2030)

* Use EmergencyState instead of deprecated EmergencyMode

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Use stamped type

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* add sort-package-xml hook in pre-commit (autowarefoundation#1881)

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

* apply pre-commit

* Sync rc v1.5.0 (autowarefoundation#2058)

* Cleanup autoware_error_monitor launch (autowarefoundation#2143)

* Improve diagnostic tree for future extensions (autowarefoundation#2153)

* change resource monitoring group

* implement diagnostic tree proposal

* rename v2x param file

* add v2x to launch

* add dummy analyzer to avoid format error

* modify external control

* rename vehicle_ecu_errors

* fixup

* remove num_items

* fix error

* add heartbeat to external command selector

* Restore sensing/node_alive_monitoring

* Update system/autoware_error_monitor/config/diagnostic_aggregator/sensing.param.yaml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* add sensor_kit arg for diagnostic_agg

* change sensor_kit's default value

* add _ prefix to hide parameter file

* delete dummy parameter

* change to use update_functions

* add extra_agg_config_file_vehicle

* change initializer

* remove line

* Update system/autoware_error_monitor/config/diagnostic_aggregator/system.param.yaml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* change hearbeat diag

* add clock group

* update sensing diag

* Remove discard and v2x

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix heartbeat name

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add remote_external_control

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add external_control

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename remote_control to external_control

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename command_gate to control_command_gate

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Simplify resource monitoring

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove sensing from autoware_error_monitor.param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove trajectory_deviation

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove vehicle specific settings

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add blank lines

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore matching_score error

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove debug_data_logger

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add trajectory_validation

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Specify children for performance_monitoring

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Comment out route_validation

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Revert "Remove trajectory_deviation"

This reverts commit 199132f1a6c7083440f0ef9a956b0663d45f4531.

* Remove control_command_topic_status

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Disable some diagnostics for planning simulator

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add TODO comment

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Enable /autoware/vehicle/node_alive_monitoring in planning simulator

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Change autoware_error_monitor config format (autowarefoundation#2244)

* Change autoware_error_monitor config file

use automatically_declare_parameters_from_overrides

Change yaml format

replace default value

move nodeoption to core

simplify parameter splitting code

use set

fix to use at function

merge for loop

add explanation for new format

fix default value

replace DiagLevel

Update system/autoware_error_monitor/src/autoware_error_monitor_core.cpp

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

Update system/autoware_error_monitor/src/autoware_error_monitor_core.cpp

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

use fmt

change to use uniform initialization

* Change autoware_error_monitor config file

* Fix format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Change formatter to clang-format and black (autowarefoundation#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply Black

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* support .auto message (autowarefoundation#529)

* remove VehicleStateReport/VehicleStateCommand/VehicleControlCommand (autowarefoundation#549)

* fix autoware_error_monitor

* fix state monitor

* fix emergency handler(vehicle_state_report)

* fix emergency Handler(vehicle_state_command)

* fix shift_decider

* fix emergency_handler(vehicle_control_command)

* fix topic name

* fix readme

* Update system/autoware_state_monitor/Readme.md

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* fix format

* Update system/autoware_state_monitor/launch/autoware_state_monitor.launch.xml

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* fix typo

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* Fix autoware monitors readme (autowarefoundation#629)

* Fix readme of autoware_state_monitor

* Fix readme of autoware_error_monitor

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Nikolai Morin <nnmmgit@gmail.com>
Co-authored-by: Jilada Eccleston <jilada.eccleston@gmail.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: s-murakami-esol <81723883+s-murakami-esol@users.noreply.github.com>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
yukkysaito pushed a commit to yukkysaito/autoware.universe that referenced this pull request Jun 29, 2022
@tkimura4 @mitsudome-r
@ito-san @kmiya @nnmm @cvasfi @jilaada @wep21 @isamu-takagi @kenji-miyake @TakaHoribe @vios-fish @adamdbrw @1222-takeshi @h-ohta @v-kitahara8153 @KeisukeShima @taikitanaka3
feat: add autoware_system_monitor package (autowarefoundation#14)
e0fc816 
* release v0.4.0

* Fixed uninitialized variable. (autowarefoundation#763)

* Fixed various bugs. (autowarefoundation#768)

* Fixed various bugs.

* Fixed wrong status report of NIC.

* Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (autowarefoundation#788)

* fix uninitialized variables (autowarefoundation#816)

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "remove ROS1 packages temporarily"

This reverts commit a9436882d50dc09fa5b8d6c0a151a10def76b242.

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Rename launch files to launch.xml (autowarefoundation#28)

* Port system monitor to ros2 (autowarefoundation#71)

* Implement a utility function that spins and updates a monitor node.

* Port cpu monitor

* Port hdd monitor.

* Port mem_monitor to ROS2

* Port  net_monitor to ROS2

* Port  ntp_monitor to ROS2

* Port  process_monitor to ROS2

* Port GPU_monitor to ROS2

* Port msr_reader and hdd_reader to ROS2

* Clean up the build and launch files:

* Clean up and comment on CMake and package files.
* Port the launch file to ROS2

* Rename h files to hpp (autowarefoundation#142)

* Change includes

* Rename files

* Adjustments to make things compile

* Other packages

* Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143)

* Use quotes for includes where appropriate (autowarefoundation#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

* Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151)

* Run uncrustify on the entire Pilot.Auto codebase

* Exclude open PRs

* ROS2 Linting: system_monitor (autowarefoundation#207)

* Add linters

* Fix clang-tidy error in util.hpp

* Ros2 v0.8.0 system monitor (autowarefoundation#276)

* fix dependency of system_monitor

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Rename ROS-related .yaml to .param.yaml (autowarefoundation#352)

* Rename ROS-related .yaml to .param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove prefix 'default_' of yaml files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename vehicle_info.yaml to vehicle_info.param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename diagnostic_aggregator's param files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix overlooked parameters

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Exclude SwPowerCap as an error. (autowarefoundation#1146) (autowarefoundation#364)

Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>

* [Update v0.9.0] system monitor (autowarefoundation#365)

* Disable CPU Load Average warning. (autowarefoundation#1147)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Fix cpu_monitor respawning forever. (autowarefoundation#1150)

* Disable cpu_temperature in planning simulation (autowarefoundation#1151)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Net Monitor: Handle as an error if specified device not exist. (autowarefoundation#1152)

* Handled as an error if specified device not exist.

* Disable network diags in simulation

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* apply ament_uncrustify

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Disable resource monitoring in planning_simulator (autowarefoundation#1172)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Treat logging errors as safe faults (autowarefoundation#1164)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix test code of system_monitor (autowarefoundation#1178)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Use thread for ntpdate. (autowarefoundation#1160) (autowarefoundation#375)

* Use thread for ntpdate. (autowarefoundation#1160)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* removed unused variable

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Import v0.9.1 (autowarefoundation#431)

* add local optimal solution ocillation check to ndt_scan_matcher (autowarefoundation#1182)

* Add obstacle_crush diagnostic (autowarefoundation#1186)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix diagnostics api (autowarefoundation#1185)

* Fix diagnostics api

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Don't overwrite level

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Overwrite level of No Fault diagnostics

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add missing diag in autoware_error_monitor.yaml (autowarefoundation#1187)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Filter hazard_status (autowarefoundation#1191)

* Filter hazard_status

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Filter leaf diagnostics

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix wrong calculation of available memory. (autowarefoundation#1168)

* Fixed wrong calculation of available memory.

* Added comments about output example of free -tb command.

* Change monitoring method to get HDD temperature and usage per specified device. (autowarefoundation#1195)

* Changed monitoring method to get temperature and usage per specified device.

* Fixed test codes.

* Removed unnecessary (void) parameter.

* return input pointcloud when ground plane not found (autowarefoundation#1190)

* fix yaw-smoothing bug (autowarefoundation#1198)

* Fix lint

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* Fix typo in system module (autowarefoundation#434)

* Fix typo in system module

* Change variable name

* Move comments

* Apply uncrustify

* Split system_monitor config (autowarefoundation#452)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove unnecessary diagnostic update. (autowarefoundation#455)

* add use_sim-time option (autowarefoundation#454)

* Sync public repo (autowarefoundation#1228)

* [simple_planning_simulator] add readme (autowarefoundation#424)

* add readme of simple_planning_simulator

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Update simulator/simple_planning_simulator/README.md

* set transit_margin_time to intersect. planner (autowarefoundation#460)

* Fix pose2twist (autowarefoundation#462)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Ros2 vehicle info param server (autowarefoundation#447)

* add vehicle_info_param_server

* update vehicle info

* apply format

* fix bug

* skip unnecessary search

* delete vehicle param file

* fix bug

* Ros2 fix topic name part2 (autowarefoundation#425)

* Fix topic name of traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_visualization

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_map_based_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_recognition

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix issues in hdd_reader (autowarefoundation#466)

* Fix some issues detected by Coverity Scan and Clang-Tidy

* Update launch command

* Add more `close(new_sock)`

* Simplify the definitions of struct

* fix: re-construct laneletMapLayer for reindex RTree (autowarefoundation#463)

* Rviz overlay render fix (autowarefoundation#461)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* uncrustified

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* back to RTD as superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Rviz overlay render in update (autowarefoundation#465)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* uncrustified

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* removed unnecessary includes and some dead code

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* restored RTD superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com>
Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai>

* Fix issues in gpu_monitor (autowarefoundation#1248)

* Fix issues in gpu_monitor
* Fix uninitialized variables
* Use range-based for loop
* Fix compile errors of tegra_gpu_monitor
* Replace C-style to C++-style

* Make iterators const

* Fix fmt::format() usage error

* Unify Apache-2.0 license name (autowarefoundation#1242)

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [system_monitor] change some nodes into components (autowarefoundation#1234)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
Co-authored-by: Takeshi Miura <takeshi.miura@tier4.jp>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>

* add system_monitor.launch.py (autowarefoundation#1238)

* add system_monitor.launch.py

* refactor system_monitor.launch.py

* fix launch bug

* fix typo

* fix launch py

* fix param loading

* format code

* fix system monitor executor to publish diagnostics asynclonously (autowarefoundation#1283)

* Fix lint errors (autowarefoundation#1378)

* Fix lint errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix variable names

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add kernel CPU usage. (autowarefoundation#1465)

* Add kernel CPU usage.

* Change CPU x: usage to CPU x: total.

* Changed variable name.

* Add markdownlint and prettier (autowarefoundation#1661)

* Add markdownlint and prettier

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore .param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* suppress warnings for system monitor (autowarefoundation#1723)

* fix for hdd_monitor

* fix no initialization and warning

* change command for ntp_monitor (autowarefoundation#1705)

* [EVT4-403] change command for ntp_monitor

* [EVT4-403] fixed CI build error

* [EVT4-403] fixed cpplint error

* delete executeChronyc thread, fix error topic and log output code

* fix cpplint error and code style divergence

* fix cpplint error(missing correction)

* Fix MD029 (autowarefoundation#1813)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix mistake

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>

* add gpu usage per process (autowarefoundation#1798)

* add gpu usage per process

* change illegal usage(4294967295%) to 0%, and fix CI running errors

* Replace gettimeofday with rclcpp::Node::now().

* Fix uncrustify error.

* Replace rclcpp::Node::now() with rclcpp::Clock(RCL_SYSTEM_TIME).

Co-authored-by: ito-san <fumihito.ito@tier4.jp>

* fix some typos (autowarefoundation#1941)

* fix some typos

* fix typo

* Fix typo

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* suppress warnings for system directory autowarefoundation#2046

* add sort-package-xml hook in pre-commit (autowarefoundation#1881)

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

* apply pre-commit

* Add execution time logging. (autowarefoundation#2066)

* Add markdown-link-check pre-commit (autowarefoundation#2215)

* add markdown-lint-check pre-commit

* delete files argument

* add optional hook

* modify comment

* add comment

* delete hook

* add retry option

* add option

* add files arg

* Fix links in hdd_reader.md

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore 403

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore tier4 github url

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Update link

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Change formatter to clang-format and black (autowarefoundation#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply Black

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* remove COLCON_IGNORE in system_packages and map_tf_generator (autowarefoundation#532)

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Nikolai Morin <nnmmgit@gmail.com>
Co-authored-by: Yunus Emre Çalışkan <yunus.ec@gmail.com>
Co-authored-by: Jilada Eccleston <jilada.eccleston@gmail.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com>
Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
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After some discussion, we realized that path curvature should not be calculated from variables outside of the path. In this PR the steering angle is used which is a vehicle variable.
I created an issue to calculate the curvature only once and make it a field of the TrajectoryPoint: #1242

@brkay54 if this is okay with you I believe we can close this PR.

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brkay54 commented Jul 5, 2022

Yes, we can close the PR.

@maxime-clem maxime-clem closed this Jul 5, 2022
@brkay54 brkay54 deleted the lateral-acceleration-limit branch October 19, 2022 10:13
kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Mar 5, 2024
@shmpwk
Merge pull request autowarefoundation#1164 from tier4/cherry-pick/pr6491
e662b10 
feat(intersection): add traffic signal info publisher and detailed occlusion diagnosis  (autowarefoundation#6491)
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Improve the lateral acceleration filter in motion velocity smoother
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@brkay54 @maxime-clem