feat(tier4_autoware_utils): add length insert target point #1302

purewater0901 · 2022-07-11T07:47:54Z

Description

add insert target point function by length

Tests performed

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chore: sync upstream

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

chore: sync upstream

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

chore: sync upstream

* chore: sync files Signed-off-by: GitHub <noreply@github.com> * ci(pre-commit): autofix Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

…of diag name (#639)

chore: sync upstream

fix(obstacle_stop_planner): use utils function to caluculate nearest index from ego (#651)

* chore: sync files Signed-off-by: GitHub <noreply@github.com> * Revert "chore: sync files" This reverts commit b24f530. Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * sync codecov.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

…age (#666) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

chore: sync upstream

…834) Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

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

* fix(system_monitor): fix build error on tegra platform Signed-off-by: Shark Liu <shark.liu@autocore.ai> * ci(pre-commit): autofix * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp Co-authored-by: Shark Liu <shark.liu@autocore.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>

* fixed panel type Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * modified instruction for rosbag replay case Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * modified update_map_dir service name Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…it is empty (#898) * skipping emplace back stop reason if it is empty Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * add braces Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>

#838) * feat(behavior_path_planner): Weakened noise filtering of drivable area Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix lanelet's longitudinal disconnection Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comments of erode/dilate process Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

chore: sync upstream

fix(vehicle_cmd_gate): initialization handling for emergency state (#1077)

chore: sync upstream

fix(behavior_velocity_planner): fix rtc behavior in crosswalk module (#1296)

Signed-off-by: yutaka <purewater0901@gmail.com>

* Initial commit * release v0.4.0 * Feature/stop reason (autowarefoundation#712) * add stop reason msg * add mock of stop resaon publisher * change namespace of stop reason * update stop reason msg * add toRosPoint * implement stop reason publisher of blind stop * implement stop reason publisher of crosswalk * implement stop reason publisher of intersection * implement stop reason publisher of stop line * implement stop reason publisher of trafficlight * implement stop reason publisher of detection area * fix bug * remove unnecessary process * add remained stop factor * clean code * fix bug * not punlish stop reason if array size is 0 * add stop reason to stuck object in intersection * add stop factor of obstacle stop planner * add stop reason of surround_obstacle checker * Apply review Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix message type * delete unused message from cmake * remove stopReasonStamped * change topic name of stop reasons Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Support error in autoware state (autowarefoundation#728) * Support Error in autoware_state_monitor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Refactor autoware_state_monitor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Wait after planning completed Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Integrate FailedToArriveGoal and Error into Emergency state Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Publish tl states stamped (autowarefoundation#744) * Add TrafficLightStateStamped.msg Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use msg instead of struct Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Publish traffic light state Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Check if lamp state is empty Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Apply clang-format Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Revert "Publish tl states stamped (autowarefoundation#744)" (autowarefoundation#771) This reverts commit 35a7e29e987afb29d9348b5f64866a584a65f753. * Fix/publish tl state stamped (autowarefoundation#772) * Publish tl states stamped (autowarefoundation#744) * Add TrafficLightStateStamped.msg Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use msg instead of struct Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Publish traffic light state Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Check if lamp state is empty Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Apply clang-format Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Use dynamic pointer cast Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Feature/add stop reason lane change (autowarefoundation#769) * add stop reason of lane change planner * add stop factor of blocked by obstacle * delete typo * add const * delete unnecessary namespace * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add sample ros2 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Add ros2 perception msgs Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix dependency issue in autoware_control_msgs (autowarefoundation#22) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Port vehicle_cmd_gate to ROS2 (#3) * Port vehicle_cmd_gate to ROS2 * Sim-time-respecting timer * add autoware_debug_msg (autowarefoundation#54) * add autoware_debug_msg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * rename to *stamped Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix format version (autowarefoundation#73) * port motion_velocity_optimizer (autowarefoundation#77) * port motion_velocity_optimizer Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix for warning Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix blockUntilVehiclePositionAvailable() Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Port of obstacle avoidance planner to ROS2 (autowarefoundation#83) * Port to ROS2 Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Removed ros/console include Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Added THROTTLE Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Changed numbers to floats Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Removed <double> from params Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Added new msg Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Use new msg Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Replaced dynamic reconfigure Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Added EnableAvoidance.msg Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Fixed parameter mismatch Signed-off-by: Servando German Serrano <servando.german.serrano@linaro.org> * Port behavior_velocity_planner to ROS2 (autowarefoundation#80) * Revert "Add geometry2 to repos (autowarefoundation#76)" This reverts commit 6d22704. * Automatic parts of the package port * Interesting part * Fix typo in package.xml * Review comments * Child logger names * Document logging duration Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Ros2 v0.8.0 awapi and system msgs (autowarefoundation#274) * Ros2 v0.8.0 engage (autowarefoundation#342) * [autoware_vehicle_msgs]: Add engage message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [as]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [awapi_awiv_adapter]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [web_controller]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [vehicle_cmd_gate]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_state_monitor]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_control_msgs]: Remove EngageMode message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [simple_planning_simulator]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Ros2 v0.8.0 lane_change_planner (autowarefoundation#322) * Remove lane_change_planner v0.5 Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Import lane_change_planner v0.8 (ROS1) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify header files * Remove header disable * Modify msg namespace * Modify time type * Modify pub/sub class * Modify node handle, etc. * Modify ConstPtr * Modify entry point * Modify time and publisher * Modify parameter, timer, and subscription * Modify data manager * Modify route handler * Modify state machine * Modify utility * Fix arguments * Modify states part1 * Modify states part2 * Modify common function * Fix for lint * Fix for lint * Modify comment type * Add copyright * Use duration from_seconds * Use double quotes for non-system headers * Fix include order Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Replace std_msgs Bool Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix line length Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix latch topic subscription Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix stamp initialization and reference Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add super class destructor and fix waitForData Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Ros2 v0.8.0 remove std msgs awapi (autowarefoundation#348) * [autoware_vehicle_msgs] add BatteryStatus msg Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove std_msgs related to autoware_awaiv_adapter node Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * apply ament_uncrustify Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix build failure Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix test failures Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * address review commends Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Sync with Ros2 v0.8.0 beta (autowarefoundation#393) * add nullptr check when publish concatenate data (autowarefoundation#369) * Add warning msg when concat pointcloud is not published (autowarefoundation#388) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add timeout notification stamp msgs (autowarefoundation#363) * add timeout notification stamp msgs * fix uncursify * delete timeout notification stamped * Revert "delete timeout notification stamped" This reverts commit 365d29209f6a7f5ec75eb80c5d8c2ef38daeae79. * fix message Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * modify pose_initialize for foa (autowarefoundation#382) * pose_initialize for foa (autowarefoundation#1171) * pose_initialize for foa Signed-off-by: Yamato ANDO <yamato.ando@gmail.com> * rename topic Signed-off-by: Yamato ANDO <yamato.ando@gmail.com> * fix topic name Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Add autoware version node (autowarefoundation#394) * Add autoware version node Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove todo Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove unused variable Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix node name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix typo (autowarefoundation#427) * Fix typo in common module (autowarefoundation#433) * Unify Apache-2.0 license name (autowarefoundation#1242) * Porting remote cmd selector (autowarefoundation#1286) * Feature/add remote cmd selector (autowarefoundation#1179) * Add in/out args of remote_cmd_converter.launch Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change remote input topic of vehicle_cmd_gate Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add msgs for remote_cmd_selector Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add remote_cmd_selector Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename remote_cmd_selector to external_cmd_selector Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove VehicleCommand support in autoware_joy_controller Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Support external_cmd_source in autoware_joy_controller.launch (autowarefoundation#1194) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix porting miss Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix missing function * modify xml format * fix include guard * add callback group * modify remap name * Revert "modify remap name" This reverts commit 169cc8d28442825b1d61b0439b9892c913304527. * change topic name * use rclcpp_component * Remove autoware_debug_msgs from autoware_joy_controller Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change default mode of autoware_joy_controller 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> * Add perception traffic light state output (autowarefoundation#1302) * Add perception traffic light state output Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Apply message type to relay Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix msgs (autowarefoundation#1379) * Fix msgs Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * [autoware_planning_rviz_plugin]: Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Message refinement (autowarefoundation#1381) * Message refinement * Simplify CMakeLists.txt with ament cmake auto * Add test Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_planning_msgs]: Fix dependency Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix package.xml Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix package.xml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix ament_cmake_auto Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ros2/create/external commands (autowarefoundation#1299) * add remote message * add remote commands * fix topic * remove unnecessary topic * remove unused topic * add external cmd instead * ToExternalComd * fix topic in joy con * publish perception and external tl_state for mlops (autowarefoundation#1350) (autowarefoundation#1375) * publish perception and external tl_state for mlops * fix tl_state time stamp Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Add newlines Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add PR template (#3) * Add PR template Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Update PULL_REQUEST_TEMPLATE.md * Add CI (#4) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * change msg type looking traffic light state (autowarefoundation#1455) (#6) * change msg type looking traffic light state * fix msg name * using namespace * change function name * fix typo * add readme * Update awapi/awapi_awiv_adapter/Readme.md fix typo Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Fix dependency type of rosidl_default_generators (autowarefoundation#15) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add auto-main-sync CI workflow for develop (autowarefoundation#16) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add autoware_api_msgs (autowarefoundation#12) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Feature/add virtual traffic light planner (autowarefoundation#9) * Add VIRTUAL_TRAFFIC_LIGHT to StopReason.msg Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add VirtualTrafficLightState msgs to autoware_system_msgs Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add InfrastructureCommand msgs to autoware_planning_msgs Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix msgs Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Move messages to autoware_v2x_msgs Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix dependency type of rosidl_default_generators Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix dependency type of rosidl_default_generators (autowarefoundation#19) * Change CI docker images to setup-ros-docker (autowarefoundation#20) * Change CI docker images to setup-ros-docker Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Replace foxy with galactic Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add DEBIAN_FRONTEND=noninteractive to rosdep install (autowarefoundation#21) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Update colcon-package-selection in build_and_test_pr.yml (autowarefoundation#22) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add autoware_simulation_msgs (autowarefoundation#13) * add autoware_simulation_msgs * update event name * Add autoware api (autowarefoundation#29) * add autoware multimedia msgs Signed-off-by: tkhmy <tkh.my.p@gmail.com> * add newline Signed-off-by: tkhmy <tkh.my.p@gmail.com> * change name to autoware_hmi_msgs Signed-off-by: tkhmy <tkh.my.p@gmail.com> * Rename external select message (autowarefoundation#8) * Rename external select message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add selector mode to unknown Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix selector mode constant Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix format Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Move control command messages to external api Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add build dependency Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix CI Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: tkhmy <tkh.my.p@gmail.com> * Fix CI for develop branch (autowarefoundation#31) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add emergency_holding flag to HazardStatus (autowarefoundation#25) * add EmergencyState.msg (autowarefoundation#32) * Add new workflow `sync-public.yaml` to sync with `AutowareArchitectureProposal_msgs` (autowarefoundation#35) * Add new workflow `sync-public.yaml` to sync with `AutowareArchitectureProposal_msgs` * Remove this workflow specific comments * Remove some this workflow specific comments * Rename `oss` to `public` * Replace branch name `main` to more generic description * Add line `fetch-depth: 0` (autowarefoundation#36) * Add EmergencyStateStamped.msg (autowarefoundation#38) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add sync-public-develop.yaml (autowarefoundation#42) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change proposal sync app ID (autowarefoundation#44) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add MultiArrayDimension/Layout, and update MultiArrayMsgs (autowarefoundation#28) * add MultiArrayDimension/Layout, and update MultiArrayMsgs * add kind of license * Feature/vehicle interface improvements (autowarefoundation#1361) (autowarefoundation#48) * add vehicle msg * add pacmod interface * add eps controller * use each control commands instead of vehicle command * fixed details * fixed speell check * const * fixed brake status * publish cmd when recieving ctrl cmd * fix shift cmd ptr * remove unused function and set proper license * fix names * fix typo for pacmod * remove unnecessary waiting * use flags, limit, multiarray * remove accel brake dependency * fix retrun value * replace eps to steer * cosmetic change for namespace * fix segfo and retval * Use Enum instead of int * remove unused var * add const * rename to calcFFMap * prev time steer calc * add sample csv * add new line Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * remove EmergencyMode and DricingCapability (autowarefoundation#33) * develop -> main sync (autowarefoundation#53) * Add detected object with feature (autowarefoundation#54) * Add detected object with feature Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add autoware_auto_msgs Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Revert "Add detected object with feature (autowarefoundation#54)" (autowarefoundation#57) This reverts commit 3fcfe9936361928256ed5ffa7d8a1ef4c978ca09. * Add detected object with feature (autowarefoundation#54) (autowarefoundation#59) (#4) * Add detected object with feature (autowarefoundation#54) (autowarefoundation#59) * Add detected object with feature Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add autoware_auto_msgs Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * update build depends Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add message converter (autowarefoundation#58) * Add message converter * Move autoware state converter * add VehicleEmergency (autowarefoundation#55) * Add two convert method (autowarefoundation#64) * add convert method from iv_shift to auto_gear Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * remove space Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * add convert method from for turn & hazard signal Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * fix dependency of iv_auto_msgs converter (autowarefoundation#8) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * move actuation msg (autowarefoundation#66) * Revert "move actuation msg (autowarefoundation#66)" This reverts commit d8e3ccdcabacab819360cf399442950cc162a648. * merge autoware_localization_srvs to autoware_localization_msgs * rename pose_with_cov to pose_with_covariance * add steering wheel status stamped * fix: remove workflow and PR_TEMPLATE * fix: remove autoware_api_msgs dependency * ci(pre-commit): autofix Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Esteve Fernandez <esteve@apache.org> Co-authored-by: Servando <43142004+sgermanserrano@users.noreply.github.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Shigeki Kobayashi <32808802+sgk-000@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Keisuke Shima <keisuke.shima@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: tkhmy <tkh.my.p@gmail.com> Co-authored-by: Tatsuya Yamasaki <httperror@404-notfound.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* release v0.4.0 * Fix typo (#700) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix detection area (#701) * Replace calcDistance with calcSignedDistance Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add STOP state Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * intersection: change detection area length parameter from 100m to 200m (#702) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection: fix stuck vehicle behavior (#695) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Feature/intersection use spline interpolation library (#710) * Use spline_interpolation module * Remove debug messages * Feature/stop reason (#712) * add stop reason msg * add mock of stop resaon publisher * change namespace of stop reason * update stop reason msg * add toRosPoint * implement stop reason publisher of blind stop * implement stop reason publisher of crosswalk * implement stop reason publisher of intersection * implement stop reason publisher of stop line * implement stop reason publisher of trafficlight * implement stop reason publisher of detection area * fix bug * remove unnecessary process * add remained stop factor * clean code * fix bug * not punlish stop reason if array size is 0 * add stop reason to stuck object in intersection * add stop factor of obstacle stop planner * add stop reason of surround_obstacle checker * Apply review Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix message type * delete unused message from cmake * remove stopReasonStamped * change topic name of stop reasons Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix/stop reason (#724) * input stop reason of traffic light * add comment * add empty traffic light handling * change calculation method of traffic light position * avoid 0 position output * Fix/spline interpolation in intersection module (#726) * Remove duplicating sample points * Change isValidInput * Apply clang-format * Fix convergence check in PCG * fix clac signed distance bug (#733) * intersection: ignore stop plane when path[0] is in detection area (#739) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Publish tl states stamped (#744) * Add TrafficLightStateStamped.msg Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use msg instead of struct Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Publish traffic light state Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Check if lamp state is empty Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Apply clang-format Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * update visualization marker (#759) * fix stack area (#758) * dont check pointcloud (#765) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix stop factor of merge_from_private_area (#749) * Revert "Publish tl states stamped (#744)" (#771) This reverts commit 35a7e29e987afb29d9348b5f64866a584a65f753. * fix intersection bug (#773) * fix bug * fix bug * change uid of marker (#775) * Fix/publish tl state stamped (#772) * Publish tl states stamped (#744) * Add TrafficLightStateStamped.msg Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use msg instead of struct Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Publish traffic light state Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Check if lamp state is empty Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Apply clang-format Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Use dynamic pointer cast Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Fix blind spot areas and logic for creating a stop line (#732) * Fix blind spot areas Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Change logic for creating a stop line Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Do not add marker when marker is empty Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Return boost optional for first conflict point Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Return boost optional for intersection start point Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Apply clang Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * Fix/intersection stuck detect area (#764) * fix stuck-vehicle detection area in intersection module * separate vehicle param * change the way ouf start idx count * change param * avoid to input -1 index (#777) * add dead line and pass through when over dead line (#784) * Add arg for input tl topic name (#783) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change margin to 1.0m (#790) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix insert target point bug (#798) * fix typo stop_liine to stop_line (#799) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * traffic light scene module : fix bug and change param (#800) * fix bug (passs judge line) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change param Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * Intersection add debug comment (#803) * blind spot : modify debug comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * merge from private road : modify debug comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection : modify debug comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection util: modify generateStopLine() for debug Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add comment Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix intersection preceeding lane query (#807) * modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences() Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * update comment Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Fix blind spot area (#806) * Fix blind spot area Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use range based for Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use std::unique to remove adjacent duplicates Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use generateFineCenterline Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix detection area start point Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Revert "Use generateFineCenterline" This reverts commit 9d4f46bf65d7296b9286b30dfeed217a566a815c. * Fix centerline of half lanelet Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix area start point Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Revert "fix insert target point bug (#798)" (#815) This reverts commit 12eac2023538531e28a85a8914305cb534499f29. * Fix/traffic light state (#801) * fix bug (passs judge line) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change param Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix : remove stop state Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add lower limit Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change param (#821) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * stopline: parametrize check distance (#825) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Check if lanelets are sequential (#823) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix uninitialized variables (#816) * Parameterization for calculating judge line distance (#831) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 96b63e981899f79f2f5c6a6377e9600cc278e233. 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 (#28) * Port behavior_velocity_planner to ROS2 (#80) * Revert "Add geometry2 to repos (#76)" This reverts commit 6d2270476aaafdf1a8098d700d52a508525ea04b. * Automatic parts of the package port * Interesting part * Fix typo in package.xml * Review comments * Child logger names * Document logging duration Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * [ROS2] Fix behavior velocity planner (#110) * install launch and config folders Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * port launch file Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix config files Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * improve vehicle_info_utils to enable multiple declaration of VehicleInfo objects Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix sementation fault Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Convert calls of Duration to Duration::from_seconds where appropriate (#131) * Rename h files to hpp (#142) * Change includes * Rename files * Adjustments to make things compile * Other packages * Adjust copyright notice on 532 out of 699 source files (#143) * Use quotes for includes where appropriate (#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Run uncrustify on the entire Pilot.Auto codebase (#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs * fixing trasient_local in ROS2 packages (#160) * Enable cppcheck lints in behavior_velocity_planner (#159) * Enable lints in behavior_velocity_planner * Fix package.xml * Make launch files load vehicle model params dependent on argument (#228) * Make vehicle_model configurable in behavior_velocity_planner * Make vehicle_model configurable in vehicle_cmd_gate * change from vehicle_model to vehicle_param_file (#242) Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * Ros2 v0.8 fix typo of "preceding" (#323) * Fix typo of getPrecedingLaneletSequences * Fix comment * Ros2 v0.8.0 behavior velocity planner (#332) * restore behavior velocity planner files for v0.8.0 update * Fix detection area (#808) * Remove PASS state Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Keep stopping after going over dead-line in STOP state Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Clear state after obstacle disappears Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Parameterize and change conditions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Refactor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add elapsed time checker * Refactor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore inserting point if points are too close Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename NORMAL to GO Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Revert "Ignore inserting point if points are too close" This reverts commit 91c8d620ea11e703611945cb9a50877d175f4ff6. * Fix small bug Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: taichiH <azumade.30@gmail.com> * fix timing of publish stop reason of stop_line (#845) * fix timing of publish stop reason of stop_line * Fix formatting Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix task registration of detection area module (#856) * Fix task registration of detection area module Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix id of factor_text marker Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Do not interpolate if path size is 1 (#865) * Revert "restore behavior velocity planner files for v0.8.0 update" This reverts commit ce07d3c2bfae562d56fec46c4f81d5351fd936a1. * fix some implement miss * restore behavior velocity planner files for v0.8.0 update * change intersection param (#861) * Fix/intersection stop line (#841) * add trimmed path function * fix typo * avoid to insert stop line outside intersection * Add pass judge flag (#872) * Add pass judge flag Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix wrong format Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix flag order in judge condition Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add ignore width with blind spot (#864) * add ignore width with blind spot * remove unused function * fix typo * fix margin * remove bicycle from intersection stuck vehicle (#896) * Revert "restore behavior velocity planner files for v0.8.0 update" This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9. * fix implement miss * restore behavior velocity planner files for v0.8.0 update (fixed) * Add external traffic light input (#912) * Add external traffic light input Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update topic namespace * Fix typos in planning modules (#866) * fix typos in planning * fix corresponding typos in planning * revert fixed typos temporarily due to its impact on launchers * add exception handling to intersection module (#920) * add exception handling * output input path * prevent passthrough chattering (#901) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * cosnider current_velocity to calculate intersection passing time (#880) * cosnider current_velocity to calculate intersection passing time * add fabs to current velocity * Improve stuck vehicle detect (#824) * intersection: modify stuck vehicle detect logic to consider the object shape Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection: consider ego-vehicle length when calculate stuck vehicle detection area Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection: change param stuck_vehicle_ignore_dist: 5.0 -> 7.0 Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * intersection: use vehicle_info/vehicle_length Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix implement miss * fix target pedestrian (#927) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * fix insert backward point (#953) * fix insert backward point * add comment Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * remove unnecessary if Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * Add stop line referred from road marking (#968) * Add stop line referred from road marking Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add stop line for walkway Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Feature/external input (#982) * add external input msg * impl external input(crosswalk, intersection) * :put_litter_in_its_place: * change to ++14 * fix bug * fix bug * cosmetic change * Revert "restore behavior velocity planner files for v0.8.0 update" This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9. * Fix typo (#1013) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix/blind spot insert point (#1027) * Copy insert point from previous point * Reset path unless state is stop Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change slow down speed (#1030) * restore behavior velocity planner files for v0.8.0 update (fixed) * Fix/walkway stop judge range (#1028) * Fix walkway stop judge Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Make refer id same Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix getObjectivePolygons() so that intersecting lanelet is added to objective lanelets even when there is no preceeding lanelets (#1010) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * fix implement miss for marker * restore behavior velocity planner files for v0.8.0 update (fixed) * Fix/blind spot polygon (#1056) * Fix detection area for blind spot Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply clang format Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Shrink conflicting area Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chane slowdown judgement (#1066) * chane slowdown judgement * cosmetic change * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * fixed for ros2 style * restore behavior velocity planner files for v0.8.0 update (fixed) * Remove unused headers in behavior_velocity_planner (#1072) * publish walkway stop reason (#1073) * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * restore behavior velocity planner files for v0.8.0 update (fixed) * Add correspondence marker of detection_area and stop_line (#1081) * Fix comment Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add const Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add correspondence marker of detection_area and stop_line Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add obstacle marker Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fixup Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add id marker Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Clear state when time rollback found Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * change stop to polygon line * apply clang format * fix code * fix bug Co-authored-by: taichiH <azumade.30@gmail.com> * Fix pass judge idx (#1090) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix bug (#1087) * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * fix for ros2 style * restore behavior velocity planner files for v0.8.0 update (fixed) * Fix/remove duplicated point (#1107) * Split PoseDeviaiton functions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove unnecessary pose Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Don't insert point if duplicated point exists Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix condition of duplicated points Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * seperate stop distance param (#1137) * seperate stop distance param Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * apply param for automotically generated stop line Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * shift slow down line Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * add param in yaml file Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * fix prediction_time_margin bug (#1148) * Revert "restore behavior velocity planner files for v0.8.0 update (fixed)" This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c. * fix ros2 style * remove deprecated * reformat * add test temporary launch * cpp_lint_namespace_what_you_use * lint_comment_line_length * pass ament cpplint * fixe commit * fix code * remove unneccesary * fix param structure * fix missng params * fix throttle time Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: taichiH <azumade.30@gmail.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Rename ROS-related .yaml to .param.yaml (#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> * [behavior_velocity_planner]: Fix missing ros2 porting (#392) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix error handling of tf lookupTransform (#405) Co-authored-by: autoware <autoware@example.com> * rm_std_msgs (#402) * Sensor data qos (#407) * Use sensor data qos for pointcloud preprocessor Signed-off-by: Autoware <autoware@tier4.jp> * Use sensor data qos for pointcloud Signed-off-by: Autoware <autoware@tier4.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use sensor data qos for livox tag filter and vector map filter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Autoware <autoware@tier4.jp> * Ros2 fix topic name part1 (#408) * Fix topic name of lane_departure_checker debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_departure_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_stop_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of surround_obstacle_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of emergency_handler Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint errors Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix typo Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix typo in planning module (#432) * Fix typo in planning module * Fix remaining errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply cpplint and uncrustify. Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix traffic light module (#458) * change log type (#459) * add use_sim-time option (#454) * Fix rolling build errors (#1225) * Add missing include files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Replace rclcpp::Duration Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use reference for exceptions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use from_seconds Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Sync public repo (#1228) * [simple_planning_simulator] add readme (#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 (#460) * Fix pose2twist (#462) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Ros2 vehicle info param server (#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 (#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 (#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 (#463) * Rviz overlay render fix (#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 (#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> * Unify Apache-2.0 license name (#1242) * Make planning modules components (#1263) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Remove use_sim_time for set_parameter (#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Refactor vehicle info util (#1305) * Update license Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Refactor vehicle_info_util Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename and split files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix interfaces Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix bug and add error handling Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add "// namespace" Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing include Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix slow/stop marker color & stop reason (#1347) (#1354) Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * fix intersection stop line (#1272) (#1349) * fix intersection stop line (#1272) * fix intersection stop line * fix comment * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Avoid passing empty lanelets to getPolygonFromArcLength (#1371) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add perception traffic light state output (#1302) * Add perception traffic light state output Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Apply message type to relay Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Feature/consider jerk limit in passjudge (#1339) (#1351) * Feature/consider jerk limit in passjudge (#1339) * make new branch for behavior velocity planner * update implementation for considering accel & jerk limit * refactoring * change default params * change default params * change minimum velocity which decides to conduct pass judge * remove ROS_DEBUG_COND() * remove unnecessary variables * fix lowpass filter implementation * calc acceleration in planner_data_ Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Feature/refactor stop line module (#1343) (#1359) * Refactor stop_line planner module Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add document Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix English Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Feature/add stop duration ros2 (#1380) * Feature/add stop duration (#1367) * Add stop_duration to behavior_velocity_planner Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * parameterize stop duration sec * Use stop_duration in Stop Line module Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Change default value Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix topic name of external traffic light input (#1412) * publish perception and external tl_state for mlops (#1350) (#1375) * publish perception and external tl_state for mlops * fix tl_state time stamp Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Fix/traffic light planning module (#1424) (#1487) * Fix/traffic light planning module (#1424) * bug fix * refactor * refactor * cosmetic change * fix typo * cosmetic change * refactor * remove unused func * enable restart * cosmetic change * fix typo * refactor * bug fix * cosmetic change * modify debug_data * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Remove unnecesarry comment Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix bug Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * change msg type looking traffic light state (#1494) * change msg type looking traffic light state (#1455) * change msg type looking traffic light state * fix msg name * using namespace * change function name * fix typo * add readme * Update awapi/awapi_awiv_adapter/Readme.md fix typo Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Remove deprecated message include Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Add namespace to behavior_velocity_planner (#1542) * Add namespace to behavior_velocity_planner Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Avoid passing uninitialized index (#1609) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * suppress warnings for behavior_velocity_planner (#1733) * add Werror * suppress warnings for stopline module * fix for crosswalk * fix for traffic light * fix for detection area * fix style * use {} * use auto * Fix -Wunused-parameter (#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> * Fix compiler warnings (#1837) * Fix -Wunused-private-field Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wunused-variable Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wformat-security Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Winvalid-constexpr Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wdelete-non-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wdelete-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Winconsistent-missing-override Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wrange-loop-construct Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix "invalid application of 'sizeof' to an incomplete type" Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore -Wgnu-anonymous-struct and -Wnested-anon-types Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore -Wno-deprecated-declarations in CUDA-related packages Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add autoware api (#1979) * Feature/add virtual traffic light planner (#1588) * add sort-package-xml hook in pre-commit (#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 * remove spline_interpolation, and create interpolation package that ha… (#2114) * remove spline_interpolation and add interpolation package * fix bugs and add simple test * modify application for interpolation package * add some tests and fix ci test * add some tests * add -Werror * move functions to anonymous * fix reviews * fix typo * fix review and lint * add tests * resolve TODOs * add README.md * Update common/math/interpolation/test/src/test_interpolation_utils.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update common/math/interpolation/test/src/test_interpolation_utils.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update common/math/interpolation/test/src/test_interpolation_utils.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix README.md * dealt with reviews * update README.md * update README.md * Update common/math/interpolation/README.md * fix some bugs * fix typo * update README.md * Update common/math/interpolation/README.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix test * Update common/math/interpolation/README.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix cdots * fix README.md * Update common/math/interpolation/README.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Sync develop/fix interpolation and speed up calculation (#2290) * debug slope calculation in behavior (#1566) (#1727) * debug slope calculation in behavior (#1566) * update * update * revert change of autoware_utils * define getPose in behavior_path_planner * update * update * update * update * interpolate z in obstacle_avoidance_planner * update velocity controller * fix detection area and scene * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * update comment in velocity controller * remove debug print * update Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix variable names Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix uncrustify Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * add underscore to marker namespace (#1785) Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * [obstacle_avoidance_planner] remove useless get nearest idx (#1851) * modify velocity insertion in obstacle_avoidance_planner Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [obstacle_avoidance_planner] reduce calculation cost in relative/absolute transformation (#1844) * implement relative/absolute transformation without yaw but directly sin/cos of yaw * rename: relative_p to absolute_p * assigin point.z to rel/abs_z * fix cpp-lint error Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix argument order (#1502) (#1622) Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Change param (#1559) (#1677) Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Feature/use spline module in behavior velocity planner (#1457) (#1495) * Feature/use spline module in behavior velocity planner (#1457) * Use spline_interpolation module * Remove unused function * Remove unused include * Use autoware_utils * Remove unused function * Remove cubic_spline.hpp * Fix error handling * Fix interpolation of velocity Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change warning threshold (#1539) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Feature/porting behavior path planner (#1645) * Add behavior path planner pkg with Lane Change (#1525) * add lanelet extension funcs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add planning msgs for FOA Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add behavior_path_planner pkg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply clang format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add error handling for config load failure Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace word: foa with remote control Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add readme Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use pointer for return value of path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix hz Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug print Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove shide-shift & avoidance related files Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Clip path by goal * add build depend for behavior tree cpp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * temporally disable lint test in lanelet2_extension Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> * Add avoidance module in behavior_path_planner (#1528) * Revert "remove shide-shift & avoidance related files" This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. * refactor findNewShiftPoint func Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove duplicated decleration Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix barkward length issue - add clipPathLenght func in avoidance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * refactor: - translate english - minor modification for traffic distance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * support debug marker in behavior_path_planner Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * clean up side shift module Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change topic name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove japanese Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused var Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * adress reviewer comments: - add const for variables - add comment - fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Replace behavior_path utilities with autoware_utils (#1532) * replace calcDistance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace arange Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replave convertToEigenPt with autoware_utils::fromMsg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace normalizeRadian Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * import #1526 into behavior path planner (#1531) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix/behavior path empty path output guard (#1536) * add guard Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp * fix lateral jerk calculation (#1549) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: error handling on exception in behavior_path_planner (#1551) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix ignore too steep avoidance path (#1550) * ignore too steep path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp * parametrize lateral jerk limit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * use offsetNoThrow and add error log (#1615) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Ignore object ahead goal for avoidance (#1618) * Ignore object ahead goal for avoidance * Add flag * Fix position of definition of goal_pose * Fix arclength calculation * Fix position of definition of goal_pose * fix intersection stop line (#1636) * fix intersection stop line * fix typo * add document (#1635) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Port behavior path planner to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix map qos Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * debug slope calculation in behavior (#1566) * update * update * revert change of autoware_utils * define getPose in behavior_path_planner * update * update * update * update * interpolate z in obstacle_avoidance_planner * update velocity controller * fix detection area and scene * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * update comment in velocity controller * remove debug print * update Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Address review: Fix config file name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix redeclaring parameters Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing tf2 geometry function Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix rclcpp Time initialization Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use now() instead of msg stamp Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use throttle output in getExpandedLanelet Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing const Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> * Fix/generate intersection stop (#1590) (#1679) * Fix/generate intersection stop (#1590) * fix bug of conflicting polygons * clean code * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix/stop margin time ros2 (#1683) * Add stop margin time in walkway and merge_from_private_area (#1613) * Add stop margin time in walkway, merge_from_private_area * Fix param name * Fix bug * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Feature/change stop lines handling to support parking car avoidance p… (#1676) * Feature/change stop lines handling to support parking car avoidance path (#1464) * support parking car avoidance * change log level * apply clang-format * add extendLine function * clean up & apply clang-format * change implementation getStopPoseFromMap() * remove unuse comment line Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * fix argument order (#1580) Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> * Feature/porting occlusion spot (#1740) * Feature/occlusion_spot safety planner public road (#1594) * add blind spot safety planner public road * remove duplicated procesing * remove unused private param * renaming fix typo add comments * fix spell check * velocity -> relative velocity * calc2d, To param, simplify search, To original * add the num possible collision gurd * computational cost reduction * Cosmetic change for PossibleCollisionInfo * add interpolation to possible collision value * refactor codes * fix details * invalid point gurd * To Param * refacotor to occlusion spot util * cosmetic change * clean up blindspot * To Occlusion Spot * revise readme * refactor drawing * for better explanation * fix velocity profile * clean up details * cosmetic change for debug marker * use max velocity in obstacle info instead * add gtest for Too Many Possible Collision case * change case * refactor readme * minor fix * add more occlusion spot explanation * replace svg * add gtest build path lanelet * hotfix lateral distance and searching method * update g test for lateral distance * use faster search * set more realistic param * add lanelet subtype highway * cosmetic change of reviews * add occlusion spot module in private area (#1640) * add occlusion spot in private * For debugging change * add spline interpolation to path * add review changes * adding minor change * cosmetic change * Vector to retval * Blindspot To OcclusionSpot1 * To Occlusion Spot 2 * To Occlusions spot3 * update gtest with unified anchor * remove anchor * add test slice * simplify interpolation * Too Occlusion spot4 * add test buffer * To Occlusion spot * namespace gurd * correct slice and add interpolation first * handle self crossing with check for invation * to ros debug stream * removed unused interpolation * add readme to plant uml * cosmetic change * minor change * update readme * review change * change occlusion spot text color * To Offset no Throw * better debug marker * catch only inversion error * skip return in case of inversion * for better grid * simplify path lanelet at first * remove std::cout * for better path * limit ego path inside target lanelet location * remove last points * cosmetic change for markers * apply module for limited scene * fix interpolation gurd * for better params * do not includes path behind * remove dummy perception publisher * Revert "remove dummy perception publisher" This reverts commit 4acad985fe31dd9befaa21a16631495de6c3a117. * replace hard coded occupancy grid option in psim * remove respawn * add arg to params and remove redundunt launch * fix spell check * fix default value Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Feature/occlusion spot private slice size param (#1703) * add min slice size * for a bit narrow lateral distance * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * Rename files Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Porting to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix launch namespace Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix parameter type Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_private_road.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * fix function name and condition for detection area (#1758) * Fix build warning for occlusion spot (#1766) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix passing uninitialized index (#1792) * Fix passing uninitialized index Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply uncrustify Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix return value Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix/intersection bug (#1787) * fix insert point function * apply format * separate insertPoint and hasDuplicatedPoint * clean code * fix bug * replace velocity if collision point is too close to original path point (#1799) * replace velocity if collision point is too close to original path point * fix comment * Fix compile warnings (#1852) Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wunused-private-field Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wunused-lambda-capture Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wdelete-non-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Fix -Wrange-loop-construct Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Ignore lint error Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Document / behavior velocity planner (#1767) update document Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * fix occlusion spot insert velocity ros2 (#1821) * Fix/occlusion spot offset (#1824) * merge calcCollisionFunction * ConsiderSignedOffset * add extractRoadTargetAndSignedOffset * apply signed offset and fix longitudinal distance * fix unapplied param * update gtest * consider offset until target road * refactor for proper variable name * fix typo * remove unused first index * fix closest * fix diff * fix velocity and height * tune distance thershold * fix colcon test * apply param at the experiment * fix unused and param * Fix/current acc initialize (#1899) * use boost::optional * null guard * fix typo * Feature/improve intersection detection area (#1958) * exclude ego_lanes from detection_area * add empty handling * remove unused function * Fix for uncrustify Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * [behavior_velocity_planner] remove unnecessary graph search to reduce computational cost (#1980) * remote unnecessary graph search Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add var for graph id Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused stopline search for computational cost reduction Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * restore lane_ids iteration as it was Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * sort sidewalk slice by arc length (#1967) * sort sidewalk slice by arc length * handle invalid index * divide offset to ego to closest to and closest to target * fix cartesian distance to arc lane distance * consider ego to target to ignore length * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix/merge from private area (#2005) * fix insert pos. of merge from private area * exclude entrance of private road from path * extract exit of private road * Feature/intersection module detect obstacle (#1990) * change the way to detect target objects in detection area * check the angle of deteced objects * ignore predicted path with low confidence * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/README.md Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix format * fix object position judge * change function * apply format Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * occlusion spot lower min ego velocity (#2140) Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> * add behavior velocity planner utils (#2113) * add gtest utils * add state machine as utils * add arc lane utils * remove empty file * add gtest for offset segment * use calcdist2d in autoware util * apply get point * fix uncrustify * fix conflict getPoint in behavior path * apply commit suggestion * slower than ros1 * use interpolation::slerp (#2161) * Update traffic light state if ref stop point is ahead of previous one (#2197) (#2240) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Change formatter to clang-format and black (#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 (#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * rename topic name twist -> odometry (#568) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Auto/behavior velocity (#605) * port except for traffic light * fix test * update traffic light * fix errors * rename traffic message: final -> result * fix package.xml * twist -> odometry * use confidence * rename topic name of dynamic objects * remove TODOs * deal with probabilistic test failure * deal with probabilistic test failure2 Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Sync .auto branch with the latest branch in internal repository (#691) * add trajectory point offset in rviz plugin (#2270) * sync rc rc/v0.23.0 (#2258) * fix interpolation for insert point (#2228) * fix interpolation for insert point * to prev interpolation pkg * Revert "to prev interpolation pkg" This reverts commit 9eb145b5d36e297186015fb17c267ccd5b3c21ef. Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: taikitanaka <ttatcoder@outlook.jp> * fix topic name (#2266) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Add namespace to diag for dual_return_filter (#2269) * Add a function to make 'geometry_msgs::msg::TransformStamped' (#2250) * Add a function to make 'geometry_msgs::msg::TransformStamped' * Add 'child_frame_id' as an argument of 'pose2transform' * Simplify marker scale initialization (#2286) * Fix/crosswalk polygon (#2279) * extend crosswalk polygon * improve readability * fix polygon shape * Add warning when decel distance calculation fails (#2289) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * [motion_velocity_smoother] ignore debug print (#2292) * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cahnge severity from WARN to DEBUG for debug info Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use util for stop_watch Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix map based prediction (#2200) * fix map based prediction * fix format * change map based prediction * fix spells * fix spells in comments * fix for cpplint * fix some problems * fix format and code for clang-tidy * fix space for cpplint * Update Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * Update perception/object_recognition/prediction/map_based_prediction/Readme.md * fix vector access method * fix readme format * add parameter * Update perception/object_recognition/prediction/map_based_prediction/Readme.md Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Update perception/object_recognition/prediction/map_based_prediction/Readme.md Co-authored-by: Kazuki Miyahara <kmiya@out…

* Feature/awapi awiv adapter first pr (autowarefoundation#685) * add base file of awapi_awiv_adapter * publish autoware status * update readme * fix readme * rename file * add relay topic * change msg name * publish autoware status * update readme * add new message * add lane change topic, obstacle avoidance topic * update readme * fix readme * add namespace * rename lane change available * fix readme * change pub hz * change topic name * change control mode and add gate_mode * fix readme * update readme Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix typo (autowarefoundation#687) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * move msg file to autoware_api_msgs (autowarefoundation#693) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix/awapi awiv adapter (autowarefoundation#698) * subscribe global rpt * update readme * update readme * add warning * fix readme * update readme Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add check mark for awapi readme (autowarefoundation#723) * add check mark for awapi readme * add blank * add blank * add blank Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/stop reason api (autowarefoundation#729) * fix indent of readme * add mock of stop reason aggregator * add constptr to stop reason * aggregate message * add empty handling * add nullptr handling * fix bug * update readme * fix bug * remove unused ifdef * unify same reason msg to stop factor Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * modify put/goal -> put/route (autowarefoundation#736) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/add goal api (autowarefoundation#734) * add goal api * add msg * update readme * add const auto * clean code Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/extract leaf diag info (autowarefoundation#741) * add mock function of extract leaf diag * remove parent diag * change method of isLeaf * clean code * change varibale/function name * remove string predefine * update readme Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * update awapi readme (autowarefoundation#747) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/change output awapi (autowarefoundation#782) * change ouput of awapi * change error output to warn Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/add battery to awapi (autowarefoundation#804) * implement battery fuel * update readme * add getGearInfo * fix message name * set default value:nan to battery Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Revert "remove ROS1 packages temporarily" This reverts commit c85c1d6789b1a1e63c6b4e60fa4f3296dfb12e74. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Rename launch files to launch.xml (autowarefoundation#28) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Port awapi_awiv_adapter to ROS2 (autowarefoundation#51) * Port autoware_api_msgs to ROS2 * Integrate topic_tools * Don't inherit from Node, convert to milliseconds * Remove _node suffix from non-node loggers Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Rename h files to hpp (autowarefoundation#142) * Change includes * Rename files * Adjustments to make things compile * Other packages Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add linters (autowarefoundation#227) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 v0.8.0 awapi awiv adapter (autowarefoundation#282) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 v0.8.0 engage (autowarefoundation#342) * [autoware_vehicle_msgs]: Add engage message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [as]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [awapi_awiv_adapter]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [web_controller]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [vehicle_cmd_gate]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_state_monitor]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [autoware_control_msgs]: Remove EngageMode message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [simple_planning_simulator]: Update message Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Ros2 v0.8.0 remove std msgs awapi (autowarefoundation#348) * [autoware_vehicle_msgs] add BatteryStatus msg Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove std_msgs related to autoware_awaiv_adapter node Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * apply ament_uncrustify Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix build failure Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix test failures Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * address review commends Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Awapi update v0.9.0 (autowarefoundation#350) * Feature/add current maxvel to awapi (autowarefoundation#1142) * add current max vel to awapi * add readme * apply format Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix build error Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Add missing return (autowarefoundation#1170) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix cast type Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * [awapi_awiv_adapter] fix bug in the launch file (autowarefoundation#391) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * modify pose_initialize for foa (autowarefoundation#382) * pose_initialize for foa (autowarefoundation#1171) * pose_initialize for foa Signed-off-by: Yamato ANDO <yamato.ando@gmail.com> * rename topic Signed-off-by: Yamato ANDO <yamato.ando@gmail.com> * fix topic name Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix topic name (autowarefoundation#404) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * [awapi_awiv_adapter] fix qos for some of the topics in awapi_awiv_adapter (autowarefoundation#413) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix transform (autowarefoundation#420) * Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix canTransform Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix test Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix typo in awapi module (autowarefoundation#438) Signed-off-by: tanaka3 <ttatcoder@outlook.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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add tl overwriter relay in awapi (autowarefoundation#451) * add tl overwriter relay in awapi * add missed topic type * fix typo of topic name Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * add use_sim-time option (autowarefoundation#454) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Format launch files (autowarefoundation#1219) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix rolling build errors (autowarefoundation#1225) * Add missing include files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Replace rclcpp::Duration Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use reference for exceptions Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use from_seconds Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Awapi relay component (autowarefoundation#1237) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Refine BSD license name (autowarefoundation#1244) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Clear hazard level when ignored (autowarefoundation#1200) (autowarefoundation#1289) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix flake8 (autowarefoundation#1306) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add perception traffic light state output (autowarefoundation#1302) * Add perception traffic light state output Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Apply message type to relay Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * change msg type looking traffic light state (autowarefoundation#1494) * change msg type looking traffic light state (autowarefoundation#1455) * change msg type looking traffic light state * fix msg name * using namespace * change function name * fix typo * add readme * Update awapi/awapi_awiv_adapter/Readme.md fix typo Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Remove deprecated message include Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix compiler warnings (autowarefoundation#1837) * Fix -Wunused-private-field Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wunused-variable Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wformat-security Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Winvalid-constexpr Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wdelete-non-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wdelete-abstract-non-virtual-dtor Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Winconsistent-missing-override Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wrange-loop-construct Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix "invalid application of 'sizeof' to an incomplete type" Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore -Wgnu-anonymous-struct and -Wnested-anon-types Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore -Wno-deprecated-declarations in CUDA-related packages Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add autoware api (autowarefoundation#1979) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/add virtual traffic light planner (autowarefoundation#1588) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Move launch file of external_cmd_selector (autowarefoundation#2017) * Move launch file of external_cmd_selector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add copyright Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Use DeclareLaunchArgument Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix external command api name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Move common parameters Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix format Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix format Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * 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> Signed-off-by: tanaka3 <ttatcoder@outlook.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 Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix awapi_autoware_state_publisher (autowarefoundation#2085) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/porting behavior path planner (autowarefoundation#1645) * Add behavior path planner pkg with Lane Change (autowarefoundation#1525) * add lanelet extension funcs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add planning msgs for FOA Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add behavior_path_planner pkg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply clang format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add error handling for config load failure Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace word: foa with remote control Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add readme Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use pointer for return value of path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix hz Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug print Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove shide-shift & avoidance related files Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Clip path by goal * add build depend for behavior tree cpp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * temporally disable lint test in lanelet2_extension Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> * Add avoidance module in behavior_path_planner (autowarefoundation#1528) * Revert "remove shide-shift & avoidance related files" This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. * refactor findNewShiftPoint func Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove duplicated decleration Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix barkward length issue - add clipPathLenght func in avoidance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * refactor: - translate english - minor modification for traffic distance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * support debug marker in behavior_path_planner Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * clean up side shift module Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change topic name Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove japanese Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused var Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * adress reviewer comments: - add const for variables - add comment - fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix typo Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Replace behavior_path utilities with autoware_utils (autowarefoundation#1532) * replace calcDistance Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace arange Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replave convertToEigenPt with autoware_utils::fromMsg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * replace normalizeRadian Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * cosmetic change Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * import autowarefoundation#1526 into behavior path planner (autowarefoundation#1531) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix/behavior path empty path output guard (autowarefoundation#1536) * add guard Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp * fix lateral jerk calculation (autowarefoundation#1549) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: error handling on exception in behavior_path_planner (autowarefoundation#1551) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Fix ignore too steep avoidance path (autowarefoundation#1550) * ignore too steep path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp * parametrize lateral jerk limit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * use offsetNoThrow and add error log (autowarefoundation#1615) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Ignore object ahead goal for avoidance (autowarefoundation#1618) * Ignore object ahead goal for avoidance * Add flag * Fix position of definition of goal_pose * Fix arclength calculation * Fix position of definition of goal_pose * fix intersection stop line (autowarefoundation#1636) * fix intersection stop line * fix typo * add document (autowarefoundation#1635) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Port behavior path planner to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix map qos Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * debug slope calculation in behavior (autowarefoundation#1566) * update * update * revert change of autoware_utils * define getPose in behavior_path_planner * update * update * update * update * interpolate z in obstacle_avoidance_planner * update velocity controller * fix detection area and scene * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * update comment in velocity controller * remove debug print * update Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Address review: Fix config file name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix redeclaring parameters Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing tf2 geometry function Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix rclcpp Time initialization Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use now() instead of msg stamp Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use throttle output in getExpandedLanelet Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add missing const Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Feature/porting motion velocity smoother (autowarefoundation#1653) * Add motion_velocity_smoother (autowarefoundation#1333) * Refactor node and utilities * Fix utilities * Fix utilities * Fixing... * Runs with L2 smoother * Use boost::optional * Add Linf, JerkFiltered * JerkFiltered * Fix * Fix awapi * Fix bug * Add config files * Fix bug * Fix bug and apply clang-format * Remove unused variable * Fix bug * Change C-style cast to static_cast * Add destructors * Use smart pointers for members * Add test * Fix test code * Tmp: add L2 norm of jerk in objective function * Fix external velocity limit * Fix interpolate in velocity controller and remove prevent move to close stop line * add initial velocity and acceleration to the filter function * Fix index calculation * add new marge function * handle edge case * Tmp: skip osqp_interface build test * Revert get_modified_package.sh * Fix CI * Fix version of osqp * Fix * Add design docment (JPN) * Fix linear interpolation * Refactor node and utilities * Fix utilities * Fix utilities * Fixing... * Runs with L2 smoother * Use boost::optional * Add Linf, JerkFiltered * JerkFiltered * Fix * Fix awapi * Fix bug * Add config files * Fix bug * Fix bug and apply clang-format * Remove unused variable * Fix bug * Change C-style cast to static_cast * Add destructors * Use smart pointers for members * Add test * Fix test code * Tmp: add L2 norm of jerk in objective function * Fix external velocity limit * Fix interpolate in velocity controller and remove prevent move to close stop line * add initial velocity and acceleration to the filter function * Fix index calculation * add new marge function * handle edge case * Tmp: skip osqp_interface build test * Revert get_modified_package.sh * Fix CI * Fix version of osqp * Fix * Add design docment (JPN) * Fix linear interpolation * add new sample function * Fix * Revert velocity_controller * Reset motion_velocity_optimizer * Fix parameter setting * Refactor and fix bugs * Use autoware_utils * Fix doc and bug * Fix doc * Fix external velocity limit and parametrize margin and jerk weight * Fix typo * Fix typo and remove old readme * add stop point calculation and modify objective function * Add parameter handling functions and add namespace * Rename calcClosestTrajectoryPoint to calcInterpolatedTrajectoryPoint and remove unused function * Fix applyExternalVelocityLimit and fix comments * Fix variable name * Fix variable name * Fix yaml comment * Add const * Fix interpolaion * Remove run() and change type of prev_closest_point_ * Update planning/scenario_planning/common/motion_velocity_smoother/src/smoother/smoother_base.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * fix stop point error * Fix linear interpolation and external velocity calculation * Remove debug code * Rename BaseParam * Remove unused func and fix misc * Fix package.xml, include, apply formatting * Fix external velocity limit * add debug calculation time * modify calculation time debugger * modify calculation time publisher * rescale the calculation time * Fix some problem * Update planning/scenario_planning/common/motion_velocity_smoother/launch/motion_velocity_smoother.launch Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: yutaka <purewater0901@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Add Resample Procedure after the optimization in motion_velocity_smoother (autowarefoundation#1530) * do resample after the optimization * modify resample timing * add 0 at the end of the resampeld output trajectory * Manage parameters * Fix format * Fix format * Devide resample function in other file * Update default_motion_velocity_smoother.yaml * Update default_motion_velocity_smoother.yaml Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Output debug trajectories in motion velocity smoother (autowarefoundation#1533) * add debug trajectory * add rqt_multiplot setting files * add calculation tiem visualization * guard emtpy output (autowarefoundation#1537) * Motion velocity smoother doc (autowarefoundation#1563) * Fix doc * Add english doc (tmp) * Add english file * Remove unused files * Fix * Fix typo * Modify 1-size trajectory handling & warning messages (autowarefoundation#1540) * add new guard to delete unnecessary message * change message * add warning messages * chnage message to warning * chnage to throttle * Fix jerk filter calculation (autowarefoundation#1593) * modify jerk filter calculation * remove unnecessary code * change the way of interp. of pose in smoother (autowarefoundation#1600) * Update smoother resampling (autowarefoundation#1595) * add new guard to delete unnecessary message * change message * add warning messages * chnage message to warning * chnage to throttle * modify jerk filter calculation * modify jerk filter calculation * separate resampling code * add new parameter * add new parameter to dynamic reconfigure * remove unnecessary code * add sampling before optimization * add const and blocker * change access to at * fix terminal length value * add comments * clean code * add comment * Fix/insert backward on reverse trajectory (autowarefoundation#1602) * remove unused code Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * move debug code Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix insert backward on reverse trajectory Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Porting motion velocity smoother to ros2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix launch and fix warning * pre-commit fixes * Remove unused argument * Comment out unused parameter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add distance threshold in motion_velocity_smoother (autowarefoundation#1659) * Add distance threshold * Remove parameters and use default value * Fix for pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Support Non-zero Stop Point Acceleration (autowarefoundation#1651) * Support non-zero stop point acceleration * modify zero velocity id search function (autowarefoundation#1690) * modify zero velocity id search function * Fix resample function and error handling * Add comment Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Apply lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * pre-commit fixes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: yutaka <purewater0901@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: pre-commit <pre-commit@example.com> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix/update max velocity topic name (autowarefoundation#2236) Signed-off-by: tanaka3 <ttatcoder@outlook.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> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Port awapi awiv adapter to .auto (autowarefoundation#554) * Remove COLCON_IGNORE * Change AutowareState * Change EmergencyState * Change HazardStatus * Split file for convert function * Change Path * Change Trajectory * Change ControlMode * Change Shift * Change TurnSignal and move converter * Change Steering * Change VehicleCommand * Fix EmergencyState * Fix for pre-commit * Move autoware state converter * Fix control comand * Change TwistStamped * Remove unused header Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Use pacmod3 msgs (autowarefoundation#610) * Migration to pacmod3 msgs Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix action for pacmod Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Run pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix package.xml (autowarefoundation#630) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * adapt to actuation cmd/status as control msg (autowarefoundation#646) * adapt to actuation cmd/status as control msg * fix readme * fix topics * fix remaing topics * as to pacmod interface * fix vehicle status * add header to twist * revert gyro_odometer_change * revert twist topic change * revert unchanged package Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix awapi topics (autowarefoundation#685) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix mixed route topic (autowarefoundation#695) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix/psim topics emergency handler awapi (autowarefoundation#702) * fix emergency handler * fix awapi * remove unused topic * remove duplecated vehicle cmd Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Fix topic type of awapi relay (autowarefoundation#701) * Fix topic type of awapi relay * Fix Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix door cmd topic (autowarefoundation#711) * fix door cmd topic * fix topic Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Update traffic light topic name (autowarefoundation#729) * Update traffic light topic name Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update traffic light topic name in perception Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * Update twist topic name (autowarefoundation#736) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix: refactor readme Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Shigeki Kobayashi <32808802+sgk-000@users.noreply.github.com> Co-authored-by: Keisuke Shima <keisuke.shima@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: k-obitsu <56008637+k-obitsu@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: rej55 <rej55.g@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: yutaka <purewater0901@gmail.com> Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com> Co-authored-by: pre-commit <pre-commit@example.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

autowarefoundation#1302) chore(simple_planning_simulator): publish control mode before the self-position is given (autowarefoundation#7008) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>

kenji-miyake and others added 30 commits January 24, 2022 18:00

Merge pull request #1 from autowarefoundation/tier4/proposal

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ci: add sync-upstream.yaml (#4)

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Merge pull request #5 from tier4/sync-upstream

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ci(sync-upstream): update settings (#19)

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

Merge pull request #17 from tier4/sync-upstream

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chore: sync files (#629)

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* chore: sync files Signed-off-by: GitHub <noreply@github.com> * ci(pre-commit): autofix Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

chore: sync files (#637)

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Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

fix(dummy_diag_publisher): use anon to make unique node name instead …

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…of diag name (#639)

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fix(obstacle_stop_planner): use utils function to caluculate nearest index from ego (#651)

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fix(behavior_velocity): avoid insert same point on trajectory utils (#…

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…834) Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855)

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

soblin and others added 24 commits May 18, 2022 09:48

Merge pull request #44 from tier4/sync-upstream

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Merge pull request #63 from tier4/sync-upstream

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fix(vehicle_cmd_gate): initialization handling for emergency state (#1077)

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Merge pull request #83 from tier4/sync-upstream

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fix(behavior_velocity_planner): fix rtc behavior in crosswalk module (#1296)

feat(tier4_autoware_utils): add insert target point by length

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fix format

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Signed-off-by: yutaka <purewater0901@gmail.com>

purewater0901 closed this Jul 11, 2022

purewater0901 deleted the feat/add-length-insert-target-point branch July 11, 2022 07:53

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feat(tier4_autoware_utils): add length insert target point #1302

feat(tier4_autoware_utils): add length insert target point #1302

purewater0901 commented Jul 11, 2022

feat(tier4_autoware_utils): add length insert target point #1302

feat(tier4_autoware_utils): add length insert target point #1302

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purewater0901 commented Jul 11, 2022

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