feat(behavior_velocity): add mandatory detection area for run out module #2864

TomohitoAndo · 2023-02-10T10:15:33Z

Description

Currently, if you use pointcloud as an input for run_out, points in the no_obstacle_segmentation_area are ignored.
But it would not be safe if no_obstacle_segmentation_area is so close to the ego vehicle and there is an obstacle in that area like the image below.
So I added mandatory_detection_area that the obstacle in this area is not ignored even if it is in the no_obstacle_segmentation_area to ensure safety.

Before

The obstacle in the no_obstacle_segmentation_area is ignored.

After

The obstacle in the mandatory_detection_area is detected even if it is in the no_obstacle_segmentation_area.

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Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo · 2023-02-10T10:31:34Z

@mkuri
Could you review this change? 🙏

TomohitoAndo · 2023-02-10T10:48:16Z

I ran CI here. (TIER IV Internal Link)
https://evaluation.tier4.jp/evaluation/reports/e08cecd4-2bcf-51c5-8c49-ee7a90be93fb?project_id=x2_dev
→ Confirmed CI for run out passed.

codecov · 2023-02-10T10:59:54Z

Codecov Report

Base: 11.62% // Head: 11.60% // Decreases project coverage by -0.02% ⚠️

Coverage data is based on head (5669ac6) compared to base (fe32cd5).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2864      +/-   ##
==========================================
- Coverage   11.62%   11.60%   -0.02%     
==========================================
  Files        1321     1321              
  Lines       92176    92301     +125     
  Branches    24467    24536      +69     
==========================================
  Hits        10713    10713              
- Misses      70283    70406     +123     
- Partials    11180    11182       +2

Flag	Coverage Δ		*Carryforward flag
differential	`3.95% <0.00%> (?)`
total	`11.63% <ø> (+<0.01%)`	⬆️	Carriedforward from fe32cd5

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

Impacted Files	Coverage Δ
...ity_planner/include/scene_module/run_out/debug.hpp	`0.00% <ø> (ø)`
.../include/scene_module/run_out/dynamic_obstacle.hpp	`0.00% <0.00%> (ø)`
...y_planner/include/scene_module/run_out/manager.hpp	`0.00% <ø> (ø)`
...ity_planner/include/scene_module/run_out/utils.hpp	`0.00% <0.00%> (ø)`
...elocity_planner/src/scene_module/run_out/debug.cpp	`0.00% <0.00%> (ø)`
...nner/src/scene_module/run_out/dynamic_obstacle.cpp	`0.00% <0.00%> (ø)`
...ocity_planner/src/scene_module/run_out/manager.cpp	`0.00% <0.00%> (ø)`
...elocity_planner/src/scene_module/run_out/scene.cpp	`0.00% <0.00%> (ø)`
...elocity_planner/src/scene_module/run_out/utils.cpp	`0.00% <0.00%> (ø)`
... and 1 more

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…ion#2692) * remove Go PPA Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> docs(ansible/pre_commit): remove adding golang repository for humble (autowarefoundation#2837) fix(docs): remove adding golang repository for humble Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> * rename galactic to humble Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat: add ament_cmake fork (autowarefoundation#370) Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> Signed-off-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> * revert(autoware.repos): revert "feat: add ament_cmake fork (autowarefoundation#370)" (autowarefoundation#3054) This reverts commit 0d06dd3ce10ce4e4857822173954a48cb2e91b63. * update hash of grid_map Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: remove grid_map from repos (autowarefoundation#2864) * use Ubuntu 22.04 and CUDA 11.8 Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * build(ansible/ros2_dev_tools): change ros2_dev_tools to follow humble documentation (autowarefoundation#3007) Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> build(ansible/ros2_dev_tools): follow updated humble documentation (autowarefoundation#3020) Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * docs(ansible/cuda): update manual installation steps Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * tmp: use ubuntu:22.04 for cuda_base_image Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * tmp: add liburcu6 repository for CUDA 20.04 repository Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat(ansible/playbooks): update Ubuntu version Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai> Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com>

mkuri · 2023-02-16T10:46:42Z

@TomohitoAndo
I would like to check the maximum shift from the original position by applying the voxel grid filter twice.

TomohitoAndo · 2023-02-17T09:14:27Z

@mkuri
I looked into the pcl code and it seems that the index of voxel for each points is calculated by the coordinate of points.
That means the coordinate of the voxel doesn't change even if you apply the voxel grid filter twice.
https://github.com/PointCloudLibrary/pcl/blob/pcl-1.12.0/filters/src/voxel_grid.cpp#L370-L374

So I think the maximum shift of the position is like the image below.
In this case, this is about 5.3cm because the leaf size is 0.05m.

mkuri

LGTM

…ule (autowarefoundation#2864) * feat: add mandatory detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change the topic order to subscribe compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * define function for transform pointcloud Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add missing mutex lock Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix subscribing topic for points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug publisher for pointcloud Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warning for empty frame id Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter whether to use mandatory detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use the same stop margin for the two kind of detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change max queue size Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change the marker color of mandatory detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix publishing debug pointcloud Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create function to concatenate clouds Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current_odometory instead of current_pose Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add param for mandatory area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

…ule (#284) * feat(behavior_velocity): add mandatory detection area for run out module (autowarefoundation#2864) * feat: add mandatory detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change the topic order to subscribe compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * define function for transform pointcloud Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add missing mutex lock Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix subscribing topic for points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug publisher for pointcloud Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warning for empty frame id Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter whether to use mandatory detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use the same stop margin for the two kind of detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change max queue size Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change the marker color of mandatory detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix publishing debug pointcloud Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create function to concatenate clouds Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current_odometory instead of current_pose Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add param for mandatory area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix: use current_pose instead of current_odometry Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…ule (autowarefoundation#2864) * feat: add mandatory detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change the topic order to subscribe compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * define function for transform pointcloud Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add missing mutex lock Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix subscribing topic for points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug publisher for pointcloud Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warning for empty frame id Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter whether to use mandatory detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use the same stop margin for the two kind of detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change max queue size Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change the marker color of mandatory detection area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix publishing debug pointcloud Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create function to concatenate clouds Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current_odometory instead of current_pose Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add param for mandatory area Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

TomohitoAndo added 18 commits February 9, 2023 18:25

feat: add mandatory detection area

cb83565

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

change the topic order to subscribe compare map filtered points

6dcb354

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

define function for transform pointcloud

024dfae

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

add missing mutex lock

5fa2595

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

fix subscribing topic for points

23e9575

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

remove unnecessary comments

fe3cac8

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

add debug publisher for pointcloud

b415efe

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

fix warning for empty frame id

24fd35b

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

add comments

8efeafe

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

add parameter whether to use mandatory detection area

250614d

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

use the same stop margin for the two kind of detection area

2a70f87

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

remove unused parameter

85d73ec

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

change max queue size

52fdee4

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

change the marker color of mandatory detection area

ae70971

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

fix publishing debug pointcloud

581049c

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

create function to concatenate clouds

56b6de3

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

use current_odometory instead of current_pose

ffd7c7c

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

add param for mandatory area

8a1ab6b

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo requested review from kosuke55, kyoichi-sugahara, mkuri, soblin, satoshi-ota, shmpwk, taikitanaka3, takayuki5168, tkimura4, purewater0901, a team and rej55 as code owners February 10, 2023 10:15

TomohitoAndo requested review from TakaHoribe and zulfaqar-azmi-t4 as code owners February 10, 2023 10:15

github-actions bot added component:launch Launch files, scripts and initialization tools. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Feb 10, 2023

style(pre-commit): autofix

5669ac6

This was referenced Feb 13, 2023

chore(run_out): update parameter for mandatory detection area autowarefoundation/autoware_launch#205

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chore(run_out): update parameter for mandatory detection area tier4/autoware_launch-old#770

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mkuri approved these changes Feb 17, 2023

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TomohitoAndo merged commit fd60ca4 into autowarefoundation:main Feb 17, 2023

TomohitoAndo mentioned this pull request Feb 17, 2023

feat(behavior_velocity): add mandatory detection area for run out module tier4/autoware.universe#284

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tier4-autoware-public-bot bot mentioned this pull request Feb 18, 2023

chore: sync upstream tier4/autoware.universe#279

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feat(behavior_velocity): add mandatory detection area for run out module #2864

feat(behavior_velocity): add mandatory detection area for run out module #2864

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feat(behavior_velocity): add mandatory detection area for run out module #2864

feat(behavior_velocity): add mandatory detection area for run out module #2864

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