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feat(map_based_prediction): upgrade yaw difference tolerance #767

Merged
merged 4 commits into from
Apr 27, 2022
Merged

feat(map_based_prediction): upgrade yaw difference tolerance #767

merged 4 commits into from
Apr 27, 2022

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purewater0901
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@purewater0901 purewater0901 commented Apr 22, 2022 •
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Signed-off-by: yutaka purewater0901@gmail.com

Description

When yaw inversion occurred, map based prediction does not generate appropriate paths for that object even the object is on the reasonable lanelet. In this PR, I fixed that problem, and allow map based prediction to generate predicted trajectories when the object's yaw is inverse's 180.

Before the PR:
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After the PR:
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@purewater0901
feat(map_based_prediction): upgrade yaw difference tolerance
d1e7f76 
Signed-off-by: yutaka <purewater0901@gmail.com>
@purewater0901 purewater0901 marked this pull request as ready for review April 22, 2022 10:06
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codecov bot commented Apr 22, 2022 •
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Codecov Report

Merging #767 (0ae27e1) into main (065be60) will increase coverage by 0.04%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #767      +/-   ##
========================================
+ Coverage   9.55%   9.60%   +0.04%     
========================================
  Files        921     907      -14     
  Lines      57195   56749     -446     
  Branches    6830    6694     -136     
========================================
- Hits        5465    5448      -17     
+ Misses     47228   46806     -422     
+ Partials    4502    4495       -7
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 9.63% <0.00%> (+0.08%) ⬆️ Carriedforward from a835892

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

Impacted Files Coverage Δ
...map_based_prediction/map_based_prediction_node.hpp 0.00% <ø> (ø)
...based_prediction/src/map_based_prediction_node.cpp 0.00% <0.00%> (ø)
...include/behavior_velocity_planner/planner_data.hpp 0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.hpp 40.00% <ø> (ø)
...ner/src/scene_module/occlusion_spot/grid_utils.cpp 9.70% <ø> (ø)
...lanner/src/scene_module/occlusion_spot/manager.cpp 0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.cpp 9.23% <0.00%> (ø)
..._module/occlusion_spot/risk_predictive_braking.cpp 52.00% <0.00%> (ø)
...ene_module/occlusion_spot/scene_occlusion_spot.cpp 0.00% <0.00%> (ø)
...lision_checker_node/obstacle_collision_checker.cpp 0.00% <0.00%> (-8.14%) ⬇️
... and 89 more

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yukkysaito
yukkysaito previously approved these changes Apr 24, 2022
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LGTM

@purewater0901 @yukkysaito
Update perception/map_based_prediction/src/map_based_prediction_node.cpp
b3d4d51 
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
h-ohta added a commit to h-ohta/autoware.universe that referenced this pull request Apr 26, 2022
@tkimura4 @mitsudome-r
@wep21 @nnmm @esteve @nik-tier4 @TakaHoribe @kenji-miyake @kmiya @h-ohta @takayuki5168 @IshitaTakeshi @taikitanaka3 @KeisukeShima @kyoichi-sugahara @k0suke-murakami @rej55 @1222-takeshi
feat: add mission_planner package (#40)
70ec2e2 
* release v0.4.0

* Fix routing from crosswalk (autowarefoundation#767)

Signed-off-by: Daisuke Nishimatsu <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 5eba353.

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 mission_planner to ROS2 (#56)

* port mission_planner to ROS2

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

* fix QoS for publishers

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

* Add geometry2 to repos (#76)

* add geometry2 package temporarily until new release

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

* trigger-ci

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

* add tf2 dependency to the packages that use tf2_geometry_msgs

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

* Revert "Add geometry2 to repos (#76)" (#96)

* Revert "Add geometry2 to repos (#76)"

This reverts commit 61defd0.

* Re-add tf2 dependencies

* Revert "Re-add tf2 dependencies"

This reverts commit e23b0c8b0826cf9518924d33349f9de34b4975df.

* Debug CI pipeline

* Revert "Debug CI pipeline"

This reverts commit 58f1eba550360d82c08230552abfb64b33b23e0f.

* Explicitly install known versions of the geometry packages

* No need to skip tf2 packages anymore

Co-authored-by: Esteve Fernandez <esteve@apache.org>

* 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)

* Add linters to mission_planner (#156)

* Added linters to mission_planner

* Removed duplicate dependencies

* Only add the cppcheck linter

* Added linters to CMake

* Ros2 v0.8.0 mission planner (#278)

* add use_sim-time option (#454)

* 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>

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

* Make planning modules components (autowarefoundation#1263)

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

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

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

* 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>

* Docs/mission planner (autowarefoundation#1952)

* add doc

* update docs

* Invoke code formatter at pre-commit (autowarefoundation#1935)

* Run ament_uncrustify at pre-commit

* Reformat existing files
* Fix copyright and cpplint errors

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

* update mission planner doc (autowarefoundation#2044)

* update mission planner doc

* fix typo

* Update planning/mission_planning/mission_planner/mission_planner-design.md

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

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

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

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

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

* update version for bug-fix

* apply pre-commit

* add pull over/out module (autowarefoundation#2147)

* 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 (#500)

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

* rename to README.md (#550)

* rename to README.md

* dealt with new auto_msgs format

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

* port mission planner (#538)

* port lanelet2 msg

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* port route

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* fix precommit

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* Use route_handler package in mission_planner (#579)

* [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (#606)

* fix console meter

* fix velocity_history

* fix route handler

* change topic name

* Modify readme for mission planner (autowarefoundation#714)

* modify readme for mission planner

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* fix document

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* fix readme

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Nikolai Morin <nnmmgit@gmail.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Esteve Fernandez <esteve@apache.org>
Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Co-authored-by: kyoichi sugahara <81.s.kyo.19@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp>
Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
h-ohta added a commit to h-ohta/autoware.universe that referenced this pull request Apr 26, 2022
@wep21 @h-ohta
feat: add distance to stopline to closest_velocity_checker (autowar…
9e6c3cd 
…efoundation#767) (#145)

* add distance to stopline

* fix topic name

* fix for pre commit

* fix for pre commit

* fix for pre commit

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

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
@yukkysaito yukkysaito self-requested a review April 26, 2022 03:48
yukkysaito
yukkysaito previously approved these changes Apr 26, 2022
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@purewater0901 purewater0901 enabled auto-merge (squash) April 27, 2022 01:09
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@yukkysaito Since I had the format error, could you approve this PR after all the CI has passed ?

@yukkysaito yukkysaito self-requested a review April 27, 2022 07:30
@purewater0901 purewater0901 merged commit 3dcb5af into autowarefoundation:main Apr 27, 2022
@purewater0901 purewater0901 deleted the feature/upgrade-yaw-difference-tolerance branch April 27, 2022 16:06
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Apr 28, 2022
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tkimura4 commented Jun 8, 2022 •
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FYI:
The predicted_paths of a vehicle running backwards in the lane seems strange
image

@purewater0901 purewater0901 mentioned this pull request Jun 8, 2022
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boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@purewater0901 @yukkysaito @boyali
feat(map_based_prediction): upgrade yaw difference tolerance (tier4#767)
f7662a5 
* feat(map_based_prediction): upgrade yaw difference tolerance

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

* Update perception/map_based_prediction/src/map_based_prediction_node.cpp

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

* fix format

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@purewater0901 @yukkysaito @boyali
feat(map_based_prediction): upgrade yaw difference tolerance (tier4#767)
ef22b9c 
* feat(map_based_prediction): upgrade yaw difference tolerance

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

* Update perception/map_based_prediction/src/map_based_prediction_node.cpp

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

* fix format

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@purewater0901 @yukkysaito @boyali
feat(map_based_prediction): upgrade yaw difference tolerance (tier4#767)
cef4872 
* feat(map_based_prediction): upgrade yaw difference tolerance

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

* Update perception/map_based_prediction/src/map_based_prediction_node.cpp

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

* fix format

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@purewater0901 @yukkysaito @boyali
feat(map_based_prediction): upgrade yaw difference tolerance (tier4#767)
2268d5f 
* feat(map_based_prediction): upgrade yaw difference tolerance

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

* Update perception/map_based_prediction/src/map_based_prediction_node.cpp

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

* fix format

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Sep 5, 2023
@1222-takeshi @tkimura4
fix(costmap_generator): prevent invalid access for current_pose (auto…
018f277 
…warefoundation#4696) (autowarefoundation#767)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
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@yukkysaito yukkysaito yukkysaito approved these changes

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