fix: is_in_parking_lot check method #992

NorahXiong · 2022-05-30T07:00:04Z

Signed-off-by: NorahXiong norah.xiong@autocore.ai

Description

fix #941
Use ego car position instead of the lanelet nearest to ego car to check if ego car is in a parking lot.

Tests performed

Tested in planning simulator.

Before fixing

After fixing

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codecov · 2022-05-30T07:46:25Z

Codecov Report

Merging #992 (196b607) into main (73b76cf) will decrease coverage by 0.14%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #992      +/-   ##
========================================
- Coverage   8.88%   8.73%   -0.15%     
========================================
  Files       1017    1017              
  Lines      63653   65195    +1542     
  Branches   11224   11396     +172     
========================================
+ Hits        5655    5696      +41     
- Misses     53074   54486    +1412     
- Partials    4924    5013      +89

Flag	Coverage Δ		*Carryforward flag
differential	`2.25% <0.00%> (?)`
total	`8.88% <0.00%> (ø)`		Carriedforward from 73b76cf

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

Impacted Files	Coverage Δ
map/lanelet2_extension/lib/query.cpp	`10.53% <0.00%> (+0.77%)`	⬆️
...nodes/costmap_generator/costmap_generator_node.cpp	`0.00% <ø> (ø)`
.../scenario_selector_node/scenario_selector_node.cpp	`0.00% <ø> (ø)`
...nning/behavior_velocity_planner/test/src/utils.hpp	`82.22% <0.00%> (-5.59%)`	⬇️
...city_planner/include/utilization/state_machine.hpp	`50.00% <0.00%> (-2.64%)`	⬇️
map/lanelet2_extension/lib/mgrs_projector.cpp	`38.00% <0.00%> (-2.43%)`	⬇️
...city_planner/include/utilization/arc_lane_util.hpp	`40.42% <0.00%> (-0.88%)`	⬇️
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	`8.69% <0.00%> (-0.49%)`	⬇️
map/lanelet2_extension/lib/utilities.cpp	`8.89% <0.00%> (-0.30%)`	⬇️
...ior_velocity_planner/test/src/test_utilization.cpp	`53.52% <0.00%> (-0.11%)`	⬇️
... and 167 more

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shmpwk

Thank you for your nice contribution!
I've confirmed it works fine wherever the vehicle starts.
Also, the changes in scenario_selector_node.cpp and constmap_generator_node.cpp are independent from the other codes and thus they cannot be harmful for now.

map/lanelet2_extension/include/lanelet2_extension/utility/query.hpp

kenji-miyake

Thank you for fixing this! Generally LGTM, but some improvements can be considered.

planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp

kenji-miyake

Great! Thanks! 🙏

shmpwk

LGTM!

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

Signed-off-by: NorahXiong <norah.xiong@autocore.ai> Signed-off-by: SoohyeokPark-MORAI <shpark.morai@gmail.com>

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

…undation#992) * fix(lane_change): filter objects for skip parking objects Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

NorahXiong requested a review from taikitanaka3 May 30, 2022 10:17

NorahXiong requested review from mitsudome-r and kenji-miyake and removed request for taikitanaka3 June 10, 2022 05:09

shmpwk self-requested a review June 10, 2022 06:21

shmpwk added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) labels Jun 10, 2022

soblin self-assigned this Jun 10, 2022

shmpwk reviewed Jun 11, 2022

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map/lanelet2_extension/include/lanelet2_extension/utility/query.hpp Show resolved Hide resolved

kenji-miyake approved these changes Jun 13, 2022

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planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp Outdated Show resolved Hide resolved

NorahXiong force-pushed the fix/941 branch from cb10975 to d8f1d14 Compare June 13, 2022 06:48

kenji-miyake approved these changes Jun 13, 2022

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shmpwk approved these changes Jun 13, 2022

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NorahXiong and others added 4 commits June 14, 2022 19:20

fix: is_in_parking_lot check method

01f0a61

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

ci(pre-commit): autofix

cde054e

delete unused code; add annotation

65aba29

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

ci(pre-commit): autofix

196b607

xmfcx force-pushed the fix/941 branch from c80b195 to 196b607 Compare June 14, 2022 16:21

xmfcx enabled auto-merge (squash) June 14, 2022 16:21

xmfcx merged commit 8fbf378 into autowarefoundation:main Jun 14, 2022

tier4-autoware-public-bot bot mentioned this pull request Jun 15, 2022

chore: sync upstream tier4/autoware.universe#65

Merged

SoohyeokPark-MORAI pushed a commit to SoohyeokPark-MORAI/autoware.universe that referenced this pull request Jun 15, 2022

fix: is_in_parking_lot check method (autowarefoundation#992)

b6eac9a

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

boyali referenced this pull request in boyali/autoware.universe Jul 1, 2022

fix: is_in_parking_lot check method (tier4#992)

5e67a68

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022

fix: is_in_parking_lot check method (tier4#992)

218c51e

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022

fix: is_in_parking_lot check method (tier4#992)

931acf4

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022

fix: is_in_parking_lot check method (tier4#992)

1438bcf

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022

fix: is_in_parking_lot check method (tier4#992)

bca845f

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

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fix: is_in_parking_lot check method #992

fix: is_in_parking_lot check method #992

NorahXiong commented May 30, 2022 •

edited

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codecov bot commented May 30, 2022 •

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fix: is_in_parking_lot check method #992

fix: is_in_parking_lot check method #992

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NorahXiong commented May 30, 2022 • edited Loading

Description

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Notes for reviewers

Pre-review checklist for the PR author

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Post-review checklist for the PR author

codecov bot commented May 30, 2022 • edited Loading

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NorahXiong commented May 30, 2022 •

edited

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