Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix(behavior_path_planner): fix not to make a large jerk avoidance path #1540

Merged
merged 1 commit into from
Aug 9, 2022
Merged

fix(behavior_path_planner): fix not to make a large jerk avoidance path #1540

merged 1 commit into from
Aug 9, 2022

Conversation

TakaHoribe
Copy link
Contributor

@TakaHoribe TakaHoribe commented Aug 8, 2022 •
edited by tkimura4
Loading

Description

issue to be solved and the cause

When the ego vehicle approaches an obstacle, sometimes a very sharp (unexpected) path is generated to avoid the obstacle.
image

This is due to the bad logic of a new shift point search. This PR fixes the logic.

Detail:
The current logic keeps looking for a new shift point even if the first found shift point does not satisfy the condition (over jerk limit). However, the shift points sequence do not expect to be used without the first shift point.)

approach to solve

This PR will stop the search when the first point does not satisfy the condition.

Related links

For T4 internal use: https://tier4.atlassian.net/browse/T4PB-19386

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
  • The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.
  • The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

@TakaHoribe
fix(behavior_path_planner): fix not to make a large jerk avoidance path
f9d9eb0 
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
@codecov
Copy link

codecov bot commented Aug 8, 2022 •
edited
Loading

Codecov Report

Merging #1540 (f9d9eb0) into main (a9acb3f) will decrease coverage by 0.01%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1540      +/-   ##
==========================================
- Coverage   10.62%   10.60%   -0.02%     
==========================================
  Files        1113     1113              
  Lines       78585    78704     +119     
  Branches    18402    18461      +59     
==========================================
  Hits         8349     8349              
- Misses      61505    61613     +108     
- Partials     8731     8742      +11
Flag Coverage Δ *Carryforward flag
differential 0.78% <0.00%> (?)
total 10.60% <0.00%> (ø) Carriedforward from a9acb3f

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

Impacted Files Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp 0.00% <0.00%> (ø)
.../behavior_path_planner/src/turn_signal_decider.cpp 0.00% <0.00%> (ø)

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

tkimura4
tkimura4 approved these changes Aug 9, 2022
View reviewed changes
Copy link
Contributor

@tkimura4 tkimura4 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

It seems to be working fine.

auto approver mode
https://user-images.githubusercontent.com/59680180/183567593-906936b8-5daf-4080-8b00-abf0e17fbcd7.mp4

no approver
https://user-images.githubusercontent.com/59680180/183567608-4640a960-e936-4467-bba7-d6fca95026f4.mp4

@tkimura4 tkimura4 merged commit dfa60d5 into main Aug 9, 2022
@tkimura4 tkimura4 deleted the fix/avoidance-bad-path branch August 9, 2022 05:13
tkimura4 pushed a commit to tier4/autoware.universe that referenced this pull request Aug 9, 2022
@TakaHoribe @tkimura4
fix(behavior_path_planner): fix not to make a large jerk avoidance pa…
daa4899 
…th (autowarefoundation#1540)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Aug 10, 2022
Merged
HaoruXue pushed a commit to HaoruXue/autoware.universe that referenced this pull request Aug 10, 2022
@TakaHoribe
fix(behavior_path_planner): fix not to make a large jerk avoidance pa…
45a9c7d 
…th (autowarefoundation#1540)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
kosuke55 pushed a commit to tier4/autoware.universe that referenced this pull request Aug 12, 2022
@TakaHoribe @kosuke55
fix(behavior_path_planner): fix not to make a large jerk avoidance pa…
52c52d1 
…th (autowarefoundation#1540)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
kosuke55 pushed a commit to tier4/autoware.universe that referenced this pull request Aug 13, 2022
@TakaHoribe @kosuke55
fix(behavior_path_planner): fix not to make a large jerk avoidance pa…
feb161f 
…th (autowarefoundation#1540)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Aug 17, 2022
@tkimura4 @wep21
@rej55 @purewater0901 @TakaHoribe @td12321 @mkuri @takayuki5168 @satoshi-ota @kenji-miyake @maxime-clem @niosus @kokosabu @tier4-autoware-private-bot @taikitanaka3 @1222-takeshi @IshitaTakeshi @kmiya @yukkysaito @isamu-takagi @kyoichi-sugahara @s-murakami-esol @yukke42 @miursh @0x126 @aohsato @k0suke-murakami
feat: add motion_velocity_smoother package (autowarefoundation#48)
2356788 
* 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>

* Feature/add trajectory_visualizer and closest_velocity_checker to motion_velocity_smoother (autowarefoundation#1820)

* add trajectory_visualizer and closest_velocity_optimizer to motion_velocity_smoother.

* Fix CMakeLists

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

* Feature/port analytical smoother (autowarefoundation#1896)

* Port analytical jerk constrained smoother

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix parameters format

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Resolve warnings and remove unnecessary processing

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Change default parameters

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Change slash to dot for declare_parameter

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix debug messages

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Change pragma once to ifndef and endif

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Add #include vector, utility and string

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Remove extra white spaces

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix acceleration calculation at type 3

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Apply clang-format

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Change copyright format

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix to be less than 100 characters per line

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Implement and remove TODO

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Add include to src

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Use static_cast

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Follow uncrustify

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Disable uncrustify at include guard

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Disable uncrustify at include

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Follow uncrustify

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix include order error

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix typo

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Change index type to size_t

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix size_t

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Add const

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix parameter namespace signs from slash to dot and add latacc one

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* fix for createQuaternionFromRPY/Yaw (autowarefoundation#2154)

* fix stop dist calc bug (autowarefoundation#2152)

* use interpolation::slerp (autowarefoundation#2161)

* Add post resampling explanations (autowarefoundation#2155)

* Update motion_velocity_smoother-design.ja.md

* Update motion_velocity_smoother-design.md

* Feature/use external jerk/acc constraints (autowarefoundation#2130)

* use external jerk/acc constraints

* update VelocityLimit.msg

* Feature/add external velocity limit selector (autowarefoundation#2217)

* add external velocity limit selector

* add README.md

* improve document

* apply document template

* update external velocity limit selector & use commot params

* update smoother & use commot params

* update launch file

* Fix/smoother params (autowarefoundation#2239)

* Update velocity debug script (add vehicle engage check) (autowarefoundation#2267)

* add vehicle engage

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

* fix format

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

* [motion_velocity_smoother] fix trajectory size guard condition (autowarefoundation#2297)

* change condition for input trajectory validation chack

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

* organize guard code into function

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

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

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

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

* Remove ament_cmake_uncrustify and ament_clang_format

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

* Apply Black

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

* Apply clang-format

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

* Fix build errors

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

* Fix for cpplint

* Fix include double quotes to angle brackets

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

* Apply clang-format

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

* Fix build errors

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

* Add COLCON_IGNORE (autowarefoundation#500)

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

* port motion velocity smoother (autowarefoundation#495)

* Use autoware_auto_msgs

* Fix bugs and apply clang-format

* Remove COLCON_IGNORE

* Rename TrajectoryPointArray to TrajectoryPoints, use conversion functions in autoware_utils

* Apply clang-format

* Use odometry

* Fix document

* rename to README.md (autowarefoundation#550)

* rename to README.md

* dealt with new auto_msgs format

Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>

* update iv_msgs -> auto_msgs in planning readme (autowarefoundation#576)

* update iv_msgs -> auto_msgs in planning readme

* minor change

* some fix

* some fix

Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>

* Back port .auto control packages (autowarefoundation#571)

* Implement Lateral and Longitudinal Control Muxer

* [autowarefoundation#570] Porting wf_simulator

* [autowarefoundation#1189] Deactivate flaky test in 'trajectory_follower_nodes'

* [autowarefoundation#1189] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer'

* [autowarefoundation#1057] Add osqp_interface package

* [autowarefoundation#1057] Add library code for MPC-based lateral control

* [autowarefoundation#1271] Use std::abs instead of abs

* [autowarefoundation#1057] Implement Lateral Controller for Cargo ODD

* [autowarefoundation#1246] Resolve "Test case names currently use snake_case but should be CamelCase"

* [autowarefoundation#1325] Deactivate flaky smoke test in 'trajectory_follower_nodes'

* [autowarefoundation#1058] Add library code of longitudinal controller

* Fix build error for trajectory follower

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

* Fix build error for trajectory follower nodes

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

* [autowarefoundation#1272] Add AckermannControlCommand support to simple_planning_simulator

* [autowarefoundation#1058] Add Longitudinal Controller node

* [autowarefoundation#1058] Rename velocity_controller -> longitudinal_controller

* [autowarefoundation#1058] Update CMakeLists.txt for the longitudinal_controller_node

* [autowarefoundation#1058] Add smoke test python launch file

* [autowarefoundation#1058] Use LowPassFilter1d from trajectory_follower

* [autowarefoundation#1058] Use autoware_auto_msgs

* [autowarefoundation#1058] Changes for .auto (debug msg tmp fix, common func, tf listener)

* [autowarefoundation#1058] Remove unused parameters

* [autowarefoundation#1058] Fix ros test

* [autowarefoundation#1058] Rm default params from declare_parameters + use autoware types

* [autowarefoundation#1058] Use default param file to setup NodeOptions in the ros test

* [autowarefoundation#1058] Fix docstring

* [autowarefoundation#1058] Replace receiving a Twist with a VehicleKinematicState

* [autowarefoundation#1058] Change class variables format to m_ prefix

* [autowarefoundation#1058] Fix plugin name of LongitudinalController in CMakeLists.txt

* [autowarefoundation#1058] Fix copyright dates

* [autowarefoundation#1058] Reorder includes

* [autowarefoundation#1058] Add some tests (~89% coverage without disabling flaky tests)

* [autowarefoundation#1058] Add more tests (90+% coverage without disabling flaky tests)

* [autowarefoundation#1058] Use Float32MultiArrayDiagnostic message for debug and slope

* [autowarefoundation#1058] Calculate wheel_base value from vehicle parameters

* [autowarefoundation#1058] Cleanup redundant logger setting in tests

* [autowarefoundation#1058] Set ROS_DOMAIN_ID when running tests to prevent CI failures

* [autowarefoundation#1058] Remove TF listener and use published vehicle state instead

* [autowarefoundation#1058] Change smoke tests to use autoware_testing

* [autowarefoundation#1058] Add plotjuggler cfg for both lateral and longitudinal control

* [autowarefoundation#1058] Improve design documents

* [autowarefoundation#1058] Disable flaky test

* [autowarefoundation#1058] Properly transform vehicle state in longitudinal node

* [autowarefoundation#1058] Fix TF buffer of lateral controller

* [autowarefoundation#1058] Tuning of lateral controller for LGSVL

* [autowarefoundation#1058] Fix formating

* [autowarefoundation#1058] Fix /tf_static sub to be transient_local

* [autowarefoundation#1058] Fix yaw recalculation of reverse trajs in the lateral controller

* modify trajectory_follower for galactic build

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

* [autowarefoundation#1379] Update trajectory_follower

* [autowarefoundation#1379] Update simple_planning_simulator

* [autowarefoundation#1379] Update trajectory_follower_nodes

* apply trajectory msg modification in control

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

* move directory

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

* remote control/trajectory_follower level dorectpry

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

* remove .iv trajectory follower

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

* use .auto trajectory_follower

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

* remove .iv simple_planning_simulator & osqp_interface

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

* use .iv simple_planning_simulator & osqp_interface

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

* add tmp_autoware_auto_dependencies

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

* tmporally add autoware_auto_msgs

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

* apply .auto message split

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

* fix build depend

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

* fix packages using osqp

* fix autoware_auto_geometry

* ignore lint of some packages

* ignore ament_lint of some packages

* ignore lint/pre-commit of trajectory_follower_nodes

* disable unit tests of some packages

Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>
Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com>
Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* [planning module]fix bug (autowarefoundation#643)

* fix topic name

* remove angular z from LinearInterpolation in motion_velocity_smoother

* FIx vehicle status topic name/type (autowarefoundation#658)

* shift -> gear_status

* twist -> velocity_status

* port closest velocity checker (autowarefoundation#672)

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

* port trajectory visualizer (autowarefoundation#682)

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

* add header for debug trajectories (autowarefoundation#681)

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

* Sync .auto branch with the latest branch in internal repository (autowarefoundation#691)

* add trajectory point offset in rviz plugin (autowarefoundation#2270)

* sync rc rc/v0.23.0 (autowarefoundation#2258)

* fix interpolation for insert point (autowarefoundation#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 (autowarefoundation#2266)

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

* Add namespace to diag for dual_return_filter (autowarefoundation#2269)

* Add a function to make 'geometry_msgs::msg::TransformStamped' (autowarefoundation#2250)

* Add a function to make 'geometry_msgs::msg::TransformStamped'
* Add 'child_frame_id' as an argument of 'pose2transform'

* Simplify marker scale initialization (autowarefoundation#2286)

* Fix/crosswalk polygon (autowarefoundation#2279)

* extend crosswalk polygon

* improve readability

* fix polygon shape

* Add warning when decel distance calculation fails (autowarefoundation#2289)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* [motion_velocity_smoother] ignore debug print (autowarefoundation#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 (autowarefoundation#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@outlook.com>

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

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

* Update Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

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

Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* remove failure condition for 0 velocity trajectory (autowarefoundation#2295)

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

* [mpc_follower] remove stop distance condition from stopState decision (autowarefoundation#1916)

* [mpc_follower] remove stop distance condition from stopState decision

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

* add invalid index handling

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

* Move the debug marker initialization part to another file (autowarefoundation#2288)

* Move the debug marker initialization part to 'debug.cpp'

* Make 'isLocalOptimalSolutionOscillation' independent from 'NDTScanMatcher' (autowarefoundation#2300)

* Remove an unused function 'getTransform' (autowarefoundation#2301)

* Simplify iteration of initial poses (autowarefoundation#2310)

* Make a transform object const (autowarefoundation#2311)

* Represent poses in 'std::vector' instead of 'geometry_msgs::msg::PoseArray' (autowarefoundation#2312)

* Feature/no stopping area (autowarefoundation#2163)

* add no stopping area module to behavior velocity planner

* apply utils

* add polygon interpolation module order stopline around area is considered

* devide jpass udge with stop line polygon

* update docs

* rename file name

* update to latest

* minor change for marker

* update license

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* update license

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* update license

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* update license

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* minor fix

* add parameter tuning at experiment

* update readme

* format doc

* apply comments

* add exception gurd

* cosmetic change

* fix ament

* fix typo and remove for statement

* & to " "

* better ns

* return pass judge param

* add missing stoppable condition

* add clear pass judge and stoppable flag

* add comment

* precommit fix

* cpplint

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* sync rc rc/v0.23.0 (autowarefoundation#2281)

* Fix side shift planner (autowarefoundation#2171) (autowarefoundation#2172)

* add print debug

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

* remove forward shift points when adding new point

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

* remove debug print

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

* format

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

* Fix remove threshold

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Fix/pull out and pull over (autowarefoundation#2175)

* delete unnecessary check

* fix condition of starting pull out

* Add emergency status API (autowarefoundation#2174) (autowarefoundation#2182)

* Fix/mpc reset prev result (autowarefoundation#2185) (autowarefoundation#2195)

* reset prev result

* clean code

* reset only raw_steer_cmd

* Update control/mpc_follower/src/mpc_follower_core.cpp

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* [hotfix] 1 path point exception after resampling (autowarefoundation#2204)

* fix 1 path point exception after resampling

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

* Apply suggestions from code review

* Apply suggestions from code review

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* [hotfix] Fix lane ids (autowarefoundation#2211)

* Fix lane ids

* Prevent acceleration on avoidance (autowarefoundation#2214)

* prevent acceleration on avoidance

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

* fix param name

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

* parametrize avoidance acc

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

* change param name

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

* fix typo

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

* Fix qos in roi cluster fusion (autowarefoundation#2218)

* fix confidence (autowarefoundation#2220)

* too high confidence (autowarefoundation#2229)

* Fix/obstacle stop 0.23.0 (autowarefoundation#2232)

* fix unexpected slow down in sharp curves (autowarefoundation#2181)

* Fix/insert implementation (autowarefoundation#2186)

Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>

* [hotfix] Remove exception in avoidance module (autowarefoundation#2233)

* Remove exception

* Fix clock

* Remove blank line

* Update traffic light state if ref stop point is ahead of previous one (autowarefoundation#2197)

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

* fix interpolation for insert point (autowarefoundation#2228)

* fix interpolation for insert point

* to prev interpolation pkg

* fix index (autowarefoundation#2265)

* turn signal calculation (#2280)

* add turn signal funtion in path shifter

* add ros parameters

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
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: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com>

* [behavior_path_planner] fix sudden path change around ego (autowarefoundation#2305) (autowarefoundation#2318)

* fix return-from-ego shift point generation logic

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

* change param for trimSimilarGradShiftPoint

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

* add comment for issue

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

* update comment

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

* replace code with function (logic has not changed)

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

* move func to cpp

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

* add comment for issue

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

* fix typo

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

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

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

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

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

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* Add functions to make stamped scalar messages (autowarefoundation#2317)

* Fix/object yaw in intersection module (autowarefoundation#2294)

* fix object orientation

* fix function name

* add guard (autowarefoundation#2321)

* reduce cost (double to float) (autowarefoundation#2298)

* Add detail collision check (autowarefoundation#2274)

* Add detail collision check

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

* Remove unused function

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

* Fix arc length

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

* Seperate time margin

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

* Fix parameter name

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

* Update Readme

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

* Address review: Add comment for TimeDistanceArray

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

* Run pre-commit

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

* Fix cpplint

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

* Add return for empty polygon

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

* update CenterPoint  (autowarefoundation#2222)

* update to model trained by mmdet3d

* add vizualizer (debug)

* for multi-frame inputs

* chagne config

* use autoware_utils::pi

* project specific model and param

* rename vfe -> encoder

* rename general to common

* update download link

* update

* fix

* rename model_name

* change training toolbox link

* chage lint package

* fix test error

* commit suggestion

* Feature/lane change detection (autowarefoundation#2331)

* add old information deleter

* fix access bug

* change to deque

* update obstacle buffer

* fix some bugs

* add lane change detector

* make a update lanelet function

* fix code style

* parameterize essential values

* Update perception/object_recognition/prediction/map_based_prediction/src/map_based_prediction_ros.cpp

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

* fix slash position

* remove unnecessary lines

* fix format

* fix format

* change to new enum

* fix format

* fix typo and add guard

* change funciton name

* add lane change description

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

* Add Planning Evaluator  (autowarefoundation#2293)

* Add prototype planning evaluator

Produced data for dist between points, curvature, and relative angle

* Cleanup the code to make adding metrics easier

* Add remaining basic metrics (length, duration, vel, accel, jerk)

* Add motion_evaluator to evaluate the actual ego motion + code cleanup

* Add deviation metrics

* Add naive stability metric

* Handle invalid stat (TODO: fix the output file formatting)

* Add parameter file and cleanup

* Add basic obstacle metric (TTC not yet implemented) and fix output file format

* Add basic time to collision

* Add lateral-distance based stability metric

* Add check (at init time) that metrics' maps are complete

* Publish metrics as ParamaterDeclaration msg (for openscenario)

* Use lookahead and start from ego_pose when calculating stability metrics

* Code cleanup

* Fix lint

* Add tests

* Fix bug with Frechet dist and the last traj point

* Finish implementing tests

* Fix lint

* Code cleanup

* Update README.md

* Remove unused metric

* Change msg type of published metrics to DiagnosticArray

* fix format to fix pre-commit check

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

* fix yaml format to fix pre-commit check

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

* fix yaml format

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

* apply clang-format

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

* apply clang-format

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

* Update planning/planning_diagnostics/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp

* Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp

* Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp

* change lint format to autoware_lint_common

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

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Add keep braking function at driving state (autowarefoundation#2346)

* Add keep braking function at driving state

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Remove debug messages

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix format

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Change diag_updater's pediod from default to 0.1sec (autowarefoundation#2348)

* add cross judgement and common signal function (autowarefoundation#2319)

* merge branch turn_signal_common

* add turn signal function in signal decider

* add cross judge in path_utilities and delete from turn_signal_decider

* remove original signal calculation in lane change

* omit substitution

* replace turn signal decider in pull over function

* modify cross judge logic

* replace turn signal decider in avoidance

* add readme of turn signal

* update

* delete print debug

* update

* delete lane change decider in path shifter

* delete blank line

* fix indent

* fix typo

* fix typo

* decrease nest

* run pre commit

* Add 0 limit at forward jerk velocity filter (autowarefoundation#2340)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* add time offset param to point cloud concatenation (autowarefoundation#2303)

* add offset param

* clang-format

Co-authored-by: Akihito OHSATO <aohsato@gmail.com>

* Feature/add doc for keep braking function at driving state (autowarefoundation#2366)

* Add the description of brake keeping

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Add the english document

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Improve description

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Add english description

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

* Fix include files (autowarefoundation#2339)

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

* fix behavior intersection module

* fix behavior no stopping area module

* fix planning_evaluator

* fix motion_velocity_smoother

* rename variable

* Revert "[mpc_follower] remove stop distance condition from stopState decision (autowarefoundation#1916)"

This reverts commit ff4f0b5a844d1f835f1b93bd3b36a76747b0cd02.

* Revert "Add keep braking function at driving state (autowarefoundation#2346)"

This reverts commit f0478187db4c28bf6092c198723dcc5ec11a9c70.

* Revert "Feature/add doc for keep braking function at driving state (autowarefoundation#2366)"

This reverts commit 66de2f3924a479049fce2d5c5c6b579cacbd3e49.

* Fix orientation availability in centerpoint

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

* fix test_trajectory.cpp

* add target link libraries

* Use .auto msg in test code for planniing evaluator

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

* fix include

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

Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: taikitanaka <ttatcoder@outlook.jp>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>
Co-authored-by: purewater0901 <43805014+purewater0901@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com>
Co-authored-by: s-murakami-esol <81723883+s-murakami-esol@users.noreply.github.com>
Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Co-authored-by: Akihito OHSATO <aohsato@gmail.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix osqp link (autowarefoundation#700)

* Update twist topic name (autowarefoundation#736)

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

* rename readme.ja

* add default parameter file

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: yutaka <purewater0901@gmail.com>
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>
Co-authored-by: td12321 <85976747+td12321@users.noreply.github.com>
Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>
Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>
Co-authored-by: Igor Bogoslavskyi <igor.bogoslavskyi@gmail.com>
Co-authored-by: MIURA Yasuyuki <kokosabu@gmail.com>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: taikitanaka <ttatcoder@outlook.jp>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com>
Co-authored-by: s-murakami-esol <81723883+s-murakami-esol@users.noreply.github.com>
Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Co-authored-by: Akihito OHSATO <aohsato@gmail.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Aug 17, 2022
@taikitanaka3 @tkimura4
@obi-t4 @mitsudome-r @nnmm @jilaada @wep21 @kenji-miyake @kmiya @ito-san @sgk-000 @KeisukeShima @isamu-takagi @yukkysaito @h-ohta @k-obitsu @TakaHoribe @rej55 @takayuki5168 @purewater0901 @satoshi-ota @1222-takeshi
feat: add awapi adapter package (autowarefoundation#103)
feef2b5 
* 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 (#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>
boyali pushed a commit to boyali/autoware.universe that referenced this pull request Sep 28, 2022
@TakaHoribe @boyali
fix(behavior_path_planner): fix not to make a large jerk avoidance pa…
7eef2e0 
…th (autowarefoundation#1540)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
boyali pushed a commit to boyali/autoware.universe that referenced this pull request Oct 3, 2022
@TakaHoribe @boyali
fix(behavior_path_planner): fix not to make a large jerk avoidance pa…
6d85af4 
…th (autowarefoundation#1540)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
boyali pushed a commit to boyali/autoware.universe that referenced this pull request Oct 3, 2022
@TakaHoribe @boyali
fix(behavior_path_planner): fix not to make a large jerk avoidance pa…
669ae53 
…th (autowarefoundation#1540)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
yukke42 pushed a commit to tzhong518/autoware.universe that referenced this pull request Oct 14, 2022
@TakaHoribe
fix(behavior_path_planner): fix not to make a large jerk avoidance pa…
65e8c45 
…th (autowarefoundation#1540)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
boyali pushed a commit to boyali/autoware.universe that referenced this pull request Oct 19, 2022
@TakaHoribe @boyali
fix(behavior_path_planner): fix not to make a large jerk avoidance pa…
7f1b344 
…th (autowarefoundation#1540)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@tkimura4 tkimura4 tkimura4 approved these changes

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

None yet
2 participants
@TakaHoribe @tkimura4