fix(behavior_velocity): handle the case when finding index failed #746

TomohitoAndo · 2022-04-21T10:29:15Z

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

Description

traj_resampled_closest was used even if findNearestIndex failed.
I fixed it to return false.

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

taikitanaka3

@TomohitoAndo
Is this PR fix any bugs for now? or for preventing bugs as an utilization?

codecov · 2022-04-21T10:56:17Z

Codecov Report

Merging #746 (9a04559) into main (6667f2b) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #746      +/-   ##
========================================
- Coverage   9.63%   9.63%   -0.01%     
========================================
  Files        907     907              
  Lines      56519   56525       +6     
  Branches    6694    6694              
========================================
  Hits        5448    5448              
- Misses     46576   46582       +6     
  Partials    4495    4495

Flag	Coverage Δ		*Carryforward flag
differential	`6.29% <0.00%> (?)`
total	`9.63% <0.00%> (ø)`		Carriedforward from 6667f2b

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

Impacted Files	Coverage Δ
...y_planner/include/utilization/trajectory_utils.hpp	`0.00% <0.00%> (ø)`

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TomohitoAndo · 2022-04-21T13:05:15Z

@taikitanaka3
Thanks for the review 🙏
for preventing bugs as an utilization.

…towarefoundation#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* fix(behavior_velocity): calculate detection area from the nearest point from ego (#730) * fix(behavior_velocity): calculate lateral distance from the beginning of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add argument of min_velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use veloicty from the nearest point from ego Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pass struct by reference Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix to interpolate point in util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (#700) * fix(longitudinal_controller_node): parameterize stopped state entry condition Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(vehicle_cmd_gate): check time duration since the vehicle stopped Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs(autoware_testing): fix link (#741) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix: trajectory visualizer (#745) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(tier4_autoware_utils): modify build error in rolling (#720) * fix(tier4_autoware_utils): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lanelet2_extension): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ekf_localizer): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planning_algorithms): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(interpolation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lane_departure_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(map_based_prediction): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ground_segmentation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(motion_velocity_smoother): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(multi_object_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(control_performance_analysis): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detected_object_validation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(goal_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt_scan_matcher): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(route_handler): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_path_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(mission_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_avoidance_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_stop_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_collision_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(shape_estimation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_velocity_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(path_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detection_by_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(surround_obstacle_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_debug_tools): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(pure_pursuit): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower_nodes): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(traffic_light_map_based_detector): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_error_monitor): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_evaluator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lidar_centerpoint): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity): handle the case when finding index failed (#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: add scene module of dynamic obstacle stop Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warnings Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add temporary debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to go after stopping Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix parameter namespace Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use planner util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation when multiple obstacles are detected in one step polygon Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary debug Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option to apply limit jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Modify parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to exclude obstacles outside of partition Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify search distance for partitions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * apply voxel grid filter to input points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * set smoother param by passing node instance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter for velocity limit (temporary) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid acceleration when stopping for obstacles Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix lateral distance to publish distance from vehicle side Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify the location to publish longitudinal distance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation of stop index Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current velocity for stop dicision Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic parameter for slow down limit Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value to display passing dist Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify stopping velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update param Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use smoother in planner data Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use path with lane id instead of trajectory Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary data check Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * extend path to consider obstacles after the end of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename public member variables Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused paramter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create detection area using util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of stop distance marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * make option for detection method easier to understand Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove parameter about whether to enable this feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * calculate and publish debug data in function Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comment Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of detection area when calculation of stop distance failed Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option whether to specify the jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary includes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launcher for compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch and config for dynamic obstacle stop planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix finding package name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change of util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * relay points for simulation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix position and color of stop line marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pre-commit fixes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add documents for dynamic obstacle stop module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update documents Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: begin a sentence with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: replace predicted with smoothed for path velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create interface class to switch method Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * run compare map filter only when points method is used Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused functions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename functions for inserting velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename parameter of path_size to max_prediction_time Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): dynamic obstacle stop planner docs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): add ego vehicle description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): change space to hyphen Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change smoothed to expected target velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Start a sentence in figure with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use voxel distance based compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * select detection method from param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * do not launch as default for now Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename dynamic_obstacle_stop to run_out Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary change Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change default to false Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update cmake to build run_out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch_run_out parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add note for compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change for virtual wall marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename the parameters for smoother Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * launch compare map only when run out module is enabled Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add calculation time for modify path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>

* fix(behavior_velocity): calculate detection area from the nearest point from ego (autowarefoundation#730) * fix(behavior_velocity): calculate lateral distance from the beginning of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add argument of min_velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use veloicty from the nearest point from ego Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pass struct by reference Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix to interpolate point in util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (autowarefoundation#700) * fix(longitudinal_controller_node): parameterize stopped state entry condition Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(vehicle_cmd_gate): check time duration since the vehicle stopped Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs(autoware_testing): fix link (autowarefoundation#741) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix: trajectory visualizer (autowarefoundation#745) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(tier4_autoware_utils): modify build error in rolling (autowarefoundation#720) * fix(tier4_autoware_utils): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lanelet2_extension): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ekf_localizer): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planning_algorithms): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(interpolation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lane_departure_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(map_based_prediction): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ground_segmentation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(motion_velocity_smoother): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(multi_object_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(control_performance_analysis): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detected_object_validation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(goal_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt_scan_matcher): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(route_handler): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_path_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(mission_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_avoidance_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_stop_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_collision_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(shape_estimation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_velocity_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(path_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detection_by_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(surround_obstacle_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_debug_tools): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(pure_pursuit): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower_nodes): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(traffic_light_map_based_detector): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_error_monitor): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_evaluator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lidar_centerpoint): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity): handle the case when finding index failed (autowarefoundation#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: add scene module of dynamic obstacle stop Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warnings Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add temporary debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to go after stopping Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix parameter namespace Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use planner util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation when multiple obstacles are detected in one step polygon Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary debug Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option to apply limit jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Modify parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to exclude obstacles outside of partition Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify search distance for partitions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * apply voxel grid filter to input points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * set smoother param by passing node instance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter for velocity limit (temporary) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid acceleration when stopping for obstacles Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix lateral distance to publish distance from vehicle side Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify the location to publish longitudinal distance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation of stop index Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current velocity for stop dicision Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic parameter for slow down limit Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value to display passing dist Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify stopping velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update param Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use smoother in planner data Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use path with lane id instead of trajectory Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary data check Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * extend path to consider obstacles after the end of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename public member variables Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused paramter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create detection area using util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of stop distance marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * make option for detection method easier to understand Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove parameter about whether to enable this feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * calculate and publish debug data in function Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comment Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of detection area when calculation of stop distance failed Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option whether to specify the jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary includes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launcher for compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch and config for dynamic obstacle stop planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix finding package name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change of util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * relay points for simulation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix position and color of stop line marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pre-commit fixes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add documents for dynamic obstacle stop module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update documents Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: begin a sentence with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: replace predicted with smoothed for path velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create interface class to switch method Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * run compare map filter only when points method is used Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused functions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename functions for inserting velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename parameter of path_size to max_prediction_time Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): dynamic obstacle stop planner docs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): add ego vehicle description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): change space to hyphen Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change smoothed to expected target velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Start a sentence in figure with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use voxel distance based compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * select detection method from param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * do not launch as default for now Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename dynamic_obstacle_stop to run_out Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary change Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change default to false Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update cmake to build run_out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch_run_out parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add note for compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change for virtual wall marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename the parameters for smoother Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * launch compare map only when run out module is enabled Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add calculation time for modify path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

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

* fix(behavior_velocity): calculate detection area from the nearest point from ego (#730) * fix(behavior_velocity): calculate lateral distance from the beginning of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add argument of min_velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use veloicty from the nearest point from ego Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pass struct by reference Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix to interpolate point in util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (#700) * fix(longitudinal_controller_node): parameterize stopped state entry condition Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(vehicle_cmd_gate): check time duration since the vehicle stopped Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs(autoware_testing): fix link (#741) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix: trajectory visualizer (#745) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(tier4_autoware_utils): modify build error in rolling (#720) * fix(tier4_autoware_utils): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lanelet2_extension): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ekf_localizer): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planning_algorithms): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(interpolation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lane_departure_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(map_based_prediction): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ground_segmentation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(motion_velocity_smoother): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(multi_object_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(control_performance_analysis): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detected_object_validation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(goal_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt_scan_matcher): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(route_handler): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_path_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(mission_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_avoidance_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_stop_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_collision_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(shape_estimation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_velocity_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(path_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detection_by_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(surround_obstacle_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_debug_tools): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(pure_pursuit): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower_nodes): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(traffic_light_map_based_detector): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_error_monitor): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_evaluator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lidar_centerpoint): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity): handle the case when finding index failed (#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: add scene module of dynamic obstacle stop Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warnings Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add temporary debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to go after stopping Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix parameter namespace Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use planner util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation when multiple obstacles are detected in one step polygon Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary debug Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option to apply limit jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Modify parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to exclude obstacles outside of partition Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify search distance for partitions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * apply voxel grid filter to input points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * set smoother param by passing node instance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter for velocity limit (temporary) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid acceleration when stopping for obstacles Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix lateral distance to publish distance from vehicle side Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify the location to publish longitudinal distance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation of stop index Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current velocity for stop dicision Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic parameter for slow down limit Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value to display passing dist Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify stopping velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update param Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use smoother in planner data Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use path with lane id instead of trajectory Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary data check Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * extend path to consider obstacles after the end of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename public member variables Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused paramter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create detection area using util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of stop distance marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * make option for detection method easier to understand Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove parameter about whether to enable this feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * calculate and publish debug data in function Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comment Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of detection area when calculation of stop distance failed Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option whether to specify the jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary includes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launcher for compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch and config for dynamic obstacle stop planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix finding package name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change of util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * relay points for simulation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix position and color of stop line marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pre-commit fixes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add documents for dynamic obstacle stop module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update documents Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: begin a sentence with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: replace predicted with smoothed for path velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create interface class to switch method Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * run compare map filter only when points method is used Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused functions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename functions for inserting velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename parameter of path_size to max_prediction_time Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): dynamic obstacle stop planner docs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): add ego vehicle description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): change space to hyphen Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change smoothed to expected target velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Start a sentence in figure with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use voxel distance based compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * select detection method from param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * do not launch as default for now Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename dynamic_obstacle_stop to run_out Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary change Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change default to false Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update cmake to build run_out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch_run_out parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add note for compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change for virtual wall marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename the parameters for smoother Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * launch compare map only when run out module is enabled Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add calculation time for modify path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>

…er4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* fix(behavior_velocity): calculate detection area from the nearest point from ego (tier4#730) * fix(behavior_velocity): calculate lateral distance from the beginning of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add argument of min_velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use veloicty from the nearest point from ego Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pass struct by reference Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix to interpolate point in util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (tier4#700) * fix(longitudinal_controller_node): parameterize stopped state entry condition Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(vehicle_cmd_gate): check time duration since the vehicle stopped Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs(autoware_testing): fix link (tier4#741) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix: trajectory visualizer (tier4#745) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(tier4_autoware_utils): modify build error in rolling (tier4#720) * fix(tier4_autoware_utils): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lanelet2_extension): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ekf_localizer): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planning_algorithms): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(interpolation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lane_departure_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(map_based_prediction): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ground_segmentation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(motion_velocity_smoother): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(multi_object_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(control_performance_analysis): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detected_object_validation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(goal_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt_scan_matcher): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(route_handler): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_path_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(mission_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_avoidance_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_stop_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_collision_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(shape_estimation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_velocity_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(path_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detection_by_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(surround_obstacle_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_debug_tools): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(pure_pursuit): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower_nodes): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(traffic_light_map_based_detector): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_error_monitor): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_evaluator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lidar_centerpoint): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity): handle the case when finding index failed (tier4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: add scene module of dynamic obstacle stop Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warnings Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add temporary debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to go after stopping Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix parameter namespace Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use planner util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation when multiple obstacles are detected in one step polygon Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary debug Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option to apply limit jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Modify parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to exclude obstacles outside of partition Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify search distance for partitions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * apply voxel grid filter to input points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * set smoother param by passing node instance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter for velocity limit (temporary) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid acceleration when stopping for obstacles Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix lateral distance to publish distance from vehicle side Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify the location to publish longitudinal distance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation of stop index Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current velocity for stop dicision Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic parameter for slow down limit Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value to display passing dist Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify stopping velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update param Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use smoother in planner data Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use path with lane id instead of trajectory Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary data check Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * extend path to consider obstacles after the end of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename public member variables Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused paramter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create detection area using util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of stop distance marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * make option for detection method easier to understand Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove parameter about whether to enable this feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * calculate and publish debug data in function Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comment Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of detection area when calculation of stop distance failed Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option whether to specify the jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary includes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launcher for compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch and config for dynamic obstacle stop planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix finding package name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change of util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * relay points for simulation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix position and color of stop line marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pre-commit fixes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add documents for dynamic obstacle stop module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update documents Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: begin a sentence with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: replace predicted with smoothed for path velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create interface class to switch method Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * run compare map filter only when points method is used Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused functions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename functions for inserting velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename parameter of path_size to max_prediction_time Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): dynamic obstacle stop planner docs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): add ego vehicle description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): change space to hyphen Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change smoothed to expected target velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Start a sentence in figure with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use voxel distance based compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * select detection method from param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * do not launch as default for now Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename dynamic_obstacle_stop to run_out Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary change Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change default to false Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update cmake to build run_out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch_run_out parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add note for compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change for virtual wall marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename the parameters for smoother Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * launch compare map only when run out module is enabled Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add calculation time for modify path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>

…er4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* fix(behavior_velocity): calculate detection area from the nearest point from ego (tier4#730) * fix(behavior_velocity): calculate lateral distance from the beginning of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add argument of min_velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use veloicty from the nearest point from ego Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pass struct by reference Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix to interpolate point in util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (tier4#700) * fix(longitudinal_controller_node): parameterize stopped state entry condition Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(vehicle_cmd_gate): check time duration since the vehicle stopped Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs(autoware_testing): fix link (tier4#741) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix: trajectory visualizer (tier4#745) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(tier4_autoware_utils): modify build error in rolling (tier4#720) * fix(tier4_autoware_utils): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lanelet2_extension): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ekf_localizer): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planning_algorithms): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(interpolation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lane_departure_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(map_based_prediction): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ground_segmentation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(motion_velocity_smoother): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(multi_object_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(control_performance_analysis): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detected_object_validation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(goal_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt_scan_matcher): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(route_handler): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_path_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(mission_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_avoidance_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_stop_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_collision_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(shape_estimation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_velocity_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(path_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detection_by_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(surround_obstacle_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_debug_tools): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(pure_pursuit): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower_nodes): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(traffic_light_map_based_detector): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_error_monitor): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_evaluator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lidar_centerpoint): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity): handle the case when finding index failed (tier4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: add scene module of dynamic obstacle stop Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warnings Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add temporary debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to go after stopping Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix parameter namespace Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use planner util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation when multiple obstacles are detected in one step polygon Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary debug Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option to apply limit jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Modify parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to exclude obstacles outside of partition Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify search distance for partitions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * apply voxel grid filter to input points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * set smoother param by passing node instance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter for velocity limit (temporary) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid acceleration when stopping for obstacles Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix lateral distance to publish distance from vehicle side Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify the location to publish longitudinal distance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation of stop index Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current velocity for stop dicision Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic parameter for slow down limit Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value to display passing dist Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify stopping velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update param Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use smoother in planner data Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use path with lane id instead of trajectory Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary data check Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * extend path to consider obstacles after the end of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename public member variables Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused paramter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create detection area using util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of stop distance marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * make option for detection method easier to understand Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove parameter about whether to enable this feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * calculate and publish debug data in function Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comment Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of detection area when calculation of stop distance failed Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option whether to specify the jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary includes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launcher for compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch and config for dynamic obstacle stop planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix finding package name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change of util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * relay points for simulation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix position and color of stop line marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pre-commit fixes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add documents for dynamic obstacle stop module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update documents Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: begin a sentence with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: replace predicted with smoothed for path velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create interface class to switch method Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * run compare map filter only when points method is used Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused functions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename functions for inserting velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename parameter of path_size to max_prediction_time Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): dynamic obstacle stop planner docs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): add ego vehicle description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): change space to hyphen Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change smoothed to expected target velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Start a sentence in figure with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use voxel distance based compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * select detection method from param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * do not launch as default for now Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename dynamic_obstacle_stop to run_out Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary change Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change default to false Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update cmake to build run_out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch_run_out parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add note for compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change for virtual wall marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename the parameters for smoother Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * launch compare map only when run out module is enabled Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add calculation time for modify path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>

…er4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* fix(behavior_velocity): calculate detection area from the nearest point from ego (tier4#730) * fix(behavior_velocity): calculate lateral distance from the beginning of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add argument of min_velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use veloicty from the nearest point from ego Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pass struct by reference Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix to interpolate point in util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (tier4#700) * fix(longitudinal_controller_node): parameterize stopped state entry condition Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(vehicle_cmd_gate): check time duration since the vehicle stopped Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs(autoware_testing): fix link (tier4#741) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix: trajectory visualizer (tier4#745) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(tier4_autoware_utils): modify build error in rolling (tier4#720) * fix(tier4_autoware_utils): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lanelet2_extension): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ekf_localizer): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planning_algorithms): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(interpolation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lane_departure_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(map_based_prediction): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ground_segmentation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(motion_velocity_smoother): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(multi_object_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(control_performance_analysis): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detected_object_validation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(goal_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt_scan_matcher): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(route_handler): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_path_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(mission_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_avoidance_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_stop_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_collision_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(shape_estimation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_velocity_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(path_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detection_by_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(surround_obstacle_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_debug_tools): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(pure_pursuit): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower_nodes): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(traffic_light_map_based_detector): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_error_monitor): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_evaluator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lidar_centerpoint): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity): handle the case when finding index failed (tier4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: add scene module of dynamic obstacle stop Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warnings Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add temporary debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to go after stopping Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix parameter namespace Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use planner util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation when multiple obstacles are detected in one step polygon Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary debug Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option to apply limit jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Modify parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to exclude obstacles outside of partition Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify search distance for partitions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * apply voxel grid filter to input points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * set smoother param by passing node instance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter for velocity limit (temporary) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid acceleration when stopping for obstacles Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix lateral distance to publish distance from vehicle side Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify the location to publish longitudinal distance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation of stop index Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current velocity for stop dicision Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic parameter for slow down limit Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value to display passing dist Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify stopping velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update param Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use smoother in planner data Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use path with lane id instead of trajectory Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary data check Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * extend path to consider obstacles after the end of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename public member variables Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused paramter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create detection area using util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of stop distance marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * make option for detection method easier to understand Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove parameter about whether to enable this feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * calculate and publish debug data in function Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comment Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of detection area when calculation of stop distance failed Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option whether to specify the jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary includes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launcher for compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch and config for dynamic obstacle stop planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix finding package name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change of util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * relay points for simulation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix position and color of stop line marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pre-commit fixes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add documents for dynamic obstacle stop module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update documents Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: begin a sentence with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: replace predicted with smoothed for path velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create interface class to switch method Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * run compare map filter only when points method is used Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused functions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename functions for inserting velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename parameter of path_size to max_prediction_time Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): dynamic obstacle stop planner docs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): add ego vehicle description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): change space to hyphen Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change smoothed to expected target velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Start a sentence in figure with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use voxel distance based compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * select detection method from param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * do not launch as default for now Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename dynamic_obstacle_stop to run_out Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary change Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change default to false Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update cmake to build run_out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch_run_out parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add note for compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change for virtual wall marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename the parameters for smoother Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * launch compare map only when run out module is enabled Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add calculation time for modify path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>

…er4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* fix(behavior_velocity): calculate detection area from the nearest point from ego (tier4#730) * fix(behavior_velocity): calculate lateral distance from the beginning of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add argument of min_velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use veloicty from the nearest point from ego Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pass struct by reference Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix to interpolate point in util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (tier4#700) * fix(longitudinal_controller_node): parameterize stopped state entry condition Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(vehicle_cmd_gate): check time duration since the vehicle stopped Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs(autoware_testing): fix link (tier4#741) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix: trajectory visualizer (tier4#745) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(tier4_autoware_utils): modify build error in rolling (tier4#720) * fix(tier4_autoware_utils): modify build error in rolling Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lanelet2_extension): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ekf_localizer): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planning_algorithms): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(interpolation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(freespace_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lane_departure_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(map_based_prediction): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ground_segmentation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(motion_velocity_smoother): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(multi_object_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(control_performance_analysis): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detected_object_validation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(goal_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(ndt_scan_matcher): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(route_handler): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_path_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(mission_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_avoidance_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_stop_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(obstacle_collision_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(shape_estimation): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(behavior_velocity_planner): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(path_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(detection_by_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(surround_obstacle_checker): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_debug_tools): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(pure_pursuit): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(trajectory_follower_nodes): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(traffic_light_map_based_detector): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_error_monitor): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(planning_evaluator): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix(lidar_centerpoint): add target compile definition for geometry2 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity): handle the case when finding index failed (tier4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: add scene module of dynamic obstacle stop Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix warnings Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add temporary debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to go after stopping Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix parameter namespace Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use planner util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation when multiple obstacles are detected in one step polygon Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary debug Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option to apply limit jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Modify parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add feature to exclude obstacles outside of partition Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify search distance for partitions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * apply voxel grid filter to input points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * set smoother param by passing node instance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add parameter for velocity limit (temporary) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid acceleration when stopping for obstacles Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix lateral distance to publish distance from vehicle side Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify the location to publish longitudinal distance Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix calculation of stop index Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use current velocity for stop dicision Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add dynamic parameter for slow down limit Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add debug value to display passing dist Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * modify stopping velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update param Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use smoother in planner data Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use path with lane id instead of trajectory Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary data check Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * extend path to consider obstacles after the end of the path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename public member variables Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unused paramter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create detection area using util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of stop distance marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * make option for detection method easier to understand Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove parameter about whether to enable this feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * calculate and publish debug data in function Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add comment Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix visualization of detection area when calculation of stop distance failed Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add option whether to specify the jerk Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change parameter name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove dynamic reconfigure Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary includes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launcher for compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch and config for dynamic obstacle stop planner Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix finding package name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change of util Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * relay points for simulation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix position and color of stop line marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * pre-commit fixes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix Copyright Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add documents for dynamic obstacle stop module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * ci(pre-commit): autofix Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update documents Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: begin a sentence with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * docs: replace predicted with smoothed for path velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * create interface class to switch method Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * run compare map filter only when points method is used Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * delete unused functions Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename functions for inserting velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename parameter of path_size to max_prediction_time Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): dynamic obstacle stop planner docs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): add ego vehicle description Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix(behavior_velocity_planner): change space to hyphen Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change smoothed to expected target velocity Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Start a sentence in figure with a capital letter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use voxel distance based compare map Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * select detection method from param file Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * do not launch as default for now Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename dynamic_obstacle_stop to run_out Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary change Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * remove unnecessary changes Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * change default to false Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update cmake to build run_out module Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add launch_run_out parameter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * Add note for compare map filtered points Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * handle the change for virtual wall marker Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * rename the parameters for smoother Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix build error in humble Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * launch compare map only when run out module is enabled Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add calculation time for modify path Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update a document Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>

autowarefoundation#746) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

fix(behavior_velocity): handle the case when finding index failed

9a04559

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

TomohitoAndo requested a review from taikitanaka3 April 21, 2022 10:29

taikitanaka3 approved these changes Apr 21, 2022

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TomohitoAndo merged commit 572410f into autowarefoundation:main Apr 21, 2022

TomohitoAndo deleted the fix-smooth-path-util branch April 21, 2022 14:05

tier4-autoware-public-bot bot mentioned this pull request Apr 22, 2022

chore: sync upstream tier4/autoware.universe#39

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TomohitoAndo added a commit to TomohitoAndo/autoware.universe that referenced this pull request Apr 26, 2022

fix(behavior_velocity): handle the case when finding index failed (au…

845c80b

…towarefoundation#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo added a commit to TomohitoAndo/autoware.universe that referenced this pull request May 14, 2022

fix(behavior_velocity): handle the case when finding index failed (au…

b888356

…towarefoundation#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo added a commit to TomohitoAndo/autoware.universe that referenced this pull request May 16, 2022

fix(behavior_velocity): handle the case when finding index failed (au…

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…towarefoundation#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

taikitanaka3 pushed a commit to taikitanaka3/autoware.universe that referenced this pull request May 17, 2022

fix(behavior_velocity): handle the case when finding index failed (au…

abafcd3

…towarefoundation#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo added a commit to TomohitoAndo/autoware.universe that referenced this pull request May 25, 2022

fix(behavior_velocity): handle the case when finding index failed (au…

5ef4e78

…towarefoundation#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo added a commit to TomohitoAndo/autoware.universe that referenced this pull request May 25, 2022

fix(behavior_velocity): handle the case when finding index failed (au…

52c9e0e

…towarefoundation#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

yn-mrse referenced this pull request in tier4/autoware.universe Jun 10, 2022

fix(behavior_velocity): handle the case when finding index failed (#746)

2a7359b

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

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

fix(behavior_velocity): handle the case when finding index failed (ti…

045ff37

…er4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

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

fix(behavior_velocity): handle the case when finding index failed (ti…

3f9ad06

…er4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

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

fix(behavior_velocity): handle the case when finding index failed (ti…

70dfb9c

…er4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

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

fix(behavior_velocity): handle the case when finding index failed (ti…

74ed290

…er4#746) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo pushed a commit to TomohitoAndo/autoware.universe that referenced this pull request Aug 23, 2023

chore(tier4_perception_launch): disable internal traffic light signals (

70de56a

autowarefoundation#746) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

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fix(behavior_velocity): handle the case when finding index failed #746

fix(behavior_velocity): handle the case when finding index failed #746

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fix(behavior_velocity): handle the case when finding index failed #746

fix(behavior_velocity): handle the case when finding index failed #746

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