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feat(scan_ground_filter): change launch option and threshold #670

Merged
merged 3 commits into from
Apr 14, 2022
Merged

feat(scan_ground_filter): change launch option and threshold #670

merged 3 commits into from
Apr 14, 2022

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miursh
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@miursh miursh commented Apr 11, 2022 •
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Description

Change launch option and threshold to suppress false positives.

Related links

#643

Tests performed

Run obstacle segmentation with sample rosbag to verify that there are no false positives on the ground surface.

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miursh and others added 2 commits April 12, 2022 01:22
@miursh
Add care for near but high points
9105c2e 
Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
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ci(pre-commit): autofix
8d74732
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codecov bot commented Apr 11, 2022 •
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Codecov Report

Merging #670 (c6d2ab3) into main (151ee70) will increase coverage by 0.00%.
The diff coverage is 0.00%.

@@           Coverage Diff           @@
##             main     #670   +/-   ##
=======================================
  Coverage   10.59%   10.59%           
=======================================
  Files         735      734    -1     
  Lines       51761    51756    -5     
  Branches     6596     6596           
=======================================
  Hits         5482     5482           
+ Misses      41819    41814    -5     
  Partials     4460     4460
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 10.60% <0.00%> (+0.01%) ⬆️ Carriedforward from 8d74732

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

Impacted Files Coverage Δ
...nd_segmentation/src/scan_ground_filter_nodelet.cpp 0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.hpp 25.00% <ø> (ø)
...ner/src/scene_module/occlusion_spot/grid_utils.cpp 16.78% <0.00%> (ø)
...lanner/src/scene_module/occlusion_spot/manager.cpp 0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.cpp 9.67% <0.00%> (ø)
...ene_module/occlusion_spot/scene_occlusion_spot.cpp 0.00% <0.00%> (ø)
...troller/src/joy_controller/joy_controller_node.cpp 0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp 0.00% <0.00%> (ø)
... and 9 more

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
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@miursh miursh changed the title feat(scan_ground_filter): feat(scan_ground_filter): change launch option and threshold Apr 12, 2022
13304490790 pushed a commit to 13304490790/autoware.universe that referenced this pull request Apr 12, 2022
@taikitanaka3 @TakaHoribe
@maxime-clem @niosus @kokosabu @tkimura4 @rej55 @takayuki5168 @mkuri @KeisukeShima
feat: trajectory follower package (autowarefoundation#84)
eb47ec5 
* 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>
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* Fix message interface and tests of 'trajectory_follower_nodes' (autowarefoundation#617)

* Update longitudinal_controller_node to use VehicleOdometry

* Update lateral_controller_node for VehicleOdometry and SteeringReport

* Fix tests

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* Change the topic name of the control_cmd to align them in trajectory_follower_node (autowarefoundation#659)

* Fix topic names

* Fix namespace

* Fix test codes

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* Fix type of current odometry in trajectory_follower_node (autowarefoundation#666)

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* [latlon muxer] fix gtest (autowarefoundation#670)

* fix gtest

* remove unchanged

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* Update lateral controller (autowarefoundation#708)

* Fix parameter names of mpc_follower (autowarefoundation#1376)

* remove yaw_recalc param in mpc (autowarefoundation#1241) (autowarefoundation#1476)

* parameterize curvature num (autowarefoundation#1674) (autowarefoundation#1577)

* fix rosparam steer_rate_lim_degs to steer_rate_lim_dps in mpc_follower (autowarefoundation#1848)

* Fix spellcheck fail for some packages autowarefoundation#1842

* use interpolation::slerp (autowarefoundation#2161)

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

* add add guard (autowarefoundation#2184)

* add-mpc-optimization-status-print (autowarefoundation#2189)

* Apply ament_uncrustify

* Update control/trajectory_follower/src/qp_solver/qp_solver_osqp.cpp

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

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* Use vehicle info utils (autowarefoundation#709)

* Use vehicle info utils and disable unit test

* Update trajectory_follower_nodes default parameters and reenable tests

* Separate vehicle info param file for test

Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* remove stop distance condition from stopState decision (autowarefoundation#1916) (autowarefoundation#715)

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* velocity_controller sync to .iv develop latest (autowarefoundation#699)

* non extrapolate velocity in lerpTrajectory to avoid negative velocity just before vehicle stops (autowarefoundation#2033)

* 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>

* 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>

Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* fix topic name in plot juggler (autowarefoundation#734)

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* Fix unstable test in trajectory_follower_nodes (autowarefoundation#731)

* Added spin_some to store tf_buffer

* add more spin

* uncomment statement

* Remove temp file

* Update control/trajectory_follower_nodes/src/lateral_controller_node.cpp

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

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>
Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
@miursh miursh marked this pull request as ready for review April 13, 2022 06:15
badai-nguyen
badai-nguyen approved these changes Apr 13, 2022
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LGTM

@miursh miursh merged commit f68121e into autowarefoundation:main Apr 14, 2022
@miursh miursh deleted the fix/segmentation_for_small_noise branch April 14, 2022 10:39
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Apr 15, 2022
Merged
boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@miursh @pre-commit-ci @boyali
feat(scan_ground_filter): change launch option and threshold (tier4#670)
5997bdc 
* Add care for near but high points

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@miursh @pre-commit-ci @boyali
feat(scan_ground_filter): change launch option and threshold (tier4#670)
716d8bd 
* Add care for near but high points

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@miursh @pre-commit-ci @boyali
feat(scan_ground_filter): change launch option and threshold (tier4#670)
0ff4d98 
* Add care for near but high points

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@miursh @pre-commit-ci @boyali
feat(scan_ground_filter): change launch option and threshold (tier4#670)
6aed5f2 
* Add care for near but high points

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1222-takeshi pushed a commit to 1222-takeshi/autoware.universe that referenced this pull request Jul 26, 2023
@tier4-autoware-public-bot
Merge pull request autowarefoundation#670 from tier4/sync-upstream
6d31ad7 
chore: sync upstream
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@badai-nguyen badai-nguyen badai-nguyen approved these changes

@yukkysaito yukkysaito Awaiting requested review from yukkysaito yukkysaito is a code owner

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@miursh @badai-nguyen