feat(map_loader): display curbstone as marker array #4958

saka1-s · 2023-09-12T06:18:16Z

Description

If the vector map contains a cubestone, we would like to check the position of the curbstone on rviz. I propose adding a marker array of curbstone.
This PR also requires below PR(Merged) to build.
autowarefoundation/autoware_common#206

Curbstone is visualized as dark blue lines.

Tests performed

Psim

Not applicable.

Effects on system behavior

Not applicable.

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Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com>

saka1-s · 2023-09-13T08:03:28Z

@kminoda Could you review this PR? The PR for common was already merged.
And please let me know if I need to do else when I update common, Thank you.

kminoda

LGTM

codecov · 2023-09-13T23:44:27Z

Codecov Report

Patch coverage: 4.00% and project coverage change: +0.66% 🎉

Comparison is base (7f98ecf) 15.00% compared to head (4327ea9) 15.66%.
Report is 4 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4958      +/-   ##
==========================================
+ Coverage   15.00%   15.66%   +0.66%     
==========================================
  Files        1608     1584      -24     
  Lines      111744   108912    -2832     
  Branches    34663    33328    -1335     
==========================================
+ Hits        16762    17062     +300     
+ Misses      76259    73312    -2947     
+ Partials    18723    18538     -185

Flag	Coverage Δ		*Carryforward flag
differential	`26.51% <0.00%> (?)`
total	`15.64% <4.25%> (+0.64%)`	⬆️	Carriedforward from c4cc0a8

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

Files Changed	Coverage Δ
...ils/include/motion_utils/trajectory/trajectory.hpp	`72.64% <ø> (+5.62%)`	⬆️
...planning_rviz_plugin/include/path/display_base.hpp	`0.00% <ø> (ø)`
...et2_map_loader/lanelet2_map_visualization_node.cpp	`0.00% <0.00%> (ø)`
...clude/behavior_path_planner/marker_utils/utils.hpp	`0.00% <ø> (ø)`
...th_planner/scene_module/lane_change/base_class.hpp	`15.55% <ø> (ø)`
..._safety_checker/path_safety_checker_parameters.hpp	`50.00% <ø> (+16.66%)`	⬆️
...ath_planner/src/marker_utils/lane_change/debug.cpp	`0.00% <ø> (ø)`
...g/behavior_path_planner/src/marker_utils/utils.cpp	`18.15% <ø> (+12.10%)`	⬆️
...planner/src/scene_module/lane_change/interface.cpp	`6.52% <ø> (ø)`
...th_planner/src/scene_module/lane_change/normal.cpp	`4.72% <ø> (+0.94%)`	⬆️
... and 7 more

... and 234 files with indirect coverage changes

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Motsu-san · 2023-10-19T21:27:08Z

@saka1-s How is the progress of this PR?

…on#4958) display curbstone as marker array Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

feat(map_loader): display curbstone as marker array (autowarefoundation#4958)

* feat(avoidance): keep stopping until all shift lines are registered Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(map_loader): display curbstone as marker array (autowarefoundation#4958) display curbstone as marker array Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * revert refactoring due to cherry-pick * feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (#1031) * feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(out_of_lane): improve reuse of previous decision (#1017) * Do not directly reuse a prev stop point but project it on the new path Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve reuse of the previously inserted stop point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix precision of inserted stop point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(system_monitor): output command line (autowarefoundation#5430) (#1057) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: pull tracking object merger from awf/main Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat(intersection): check path margin for overshoot vehicles on red light (autowarefoundation#5394) (#1056) Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO> * fix(ndt_scan_matcher): delete unmerged feature * fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoundation#5951) Fixed the lock scope in update_ndt Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * fix(static_drivable_area_expansion): fix bug in expansion logic for hatched road marking (autowarefoundation#5842) (#1075) fix(utils): fix drivable area expansion logic for zebra zone Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bvp): traffic light state debug (#1083) Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> * fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (#1124) * fix(traffic_light): stop if the traffic light signal timed out * fix(traffic_light): fix README format --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * refactor(mpc_lateral_controller): add debug info of qp solver (autowarefoundation#5459) (#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: yamato-ando <Yamato ANDO> Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

display curbstone as marker array

daa6f04

Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com>

saka1-s requested review from kminoda, Motsu-san, mitsudome-r and RyuYamamoto as code owners September 12, 2023 06:18

github-actions bot added the component:map Map creation, storage, and loading. (auto-assigned) label Sep 12, 2023

saka1-s mentioned this pull request Sep 12, 2023

feat(lanelet2_extensions): add query curbstones from vector map autowarefoundation/autoware_common#206

Merged

4 tasks

saka1-s changed the title ~~display curbstone as marker array~~ feat(map_load): display curbstone as marker array Sep 12, 2023

saka1-s changed the title ~~feat(map_load): display curbstone as marker array~~ feat(map_loader): display curbstone as marker array Sep 12, 2023

saka1-s marked this pull request as draft September 13, 2023 07:57

saka1-s marked this pull request as ready for review September 13, 2023 07:59

Merge branch 'main' into feat/curbstone-markerarray

51e6037

kminoda added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Sep 13, 2023

kminoda approved these changes Sep 13, 2023

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Merge branch 'main' into feat/curbstone-markerarray

c4cc0a8

Merge branch 'main' into feat/curbstone-markerarray

4327ea9

Motsu-san merged commit 7184808 into autowarefoundation:main Oct 25, 2023
18 of 23 checks passed

tier4-autoware-public-bot bot mentioned this pull request Nov 8, 2023

chore: sync upstream tier4/autoware.universe#1005

Merged

saka1-s mentioned this pull request Nov 28, 2023

feat(map_loader): display curbstone as marker array (#4958) tier4/autoware.universe#1043

Merged

4 tasks

saka1-s added a commit to tier4/autoware.universe that referenced this pull request Dec 22, 2023

Merge pull request #1043 from saka1-s/visualize-curbstone-v0.11.1

f74b33d

feat(map_loader): display curbstone as marker array (autowarefoundation#4958)

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feat(map_loader): display curbstone as marker array #4958

feat(map_loader): display curbstone as marker array #4958

saka1-s commented Sep 12, 2023 •

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Motsu-san commented Oct 19, 2023

feat(map_loader): display curbstone as marker array #4958

feat(map_loader): display curbstone as marker array #4958

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saka1-s commented Sep 12, 2023 • edited Loading

Description

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