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chore: sync upstream #376

Merged
merged 16 commits into from
Apr 25, 2023
Merged

chore: sync upstream #376

merged 16 commits into from
Apr 25, 2023

Commits on Apr 24, 2023

  1. fix(static_centerline_optimizer): show unsafe footprints with vector … 

    …map builder (autowarefoundation#3472)

fix: unsafe footprints

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
    @shmpwk
    shmpwk authored Apr 24, 2023
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  2. feat(behavior_path_planner): make drivable area expansion parameters … 

    …common (autowarefoundation#3499)

* feat(behavior_path_planner): make drivable area expansion parameters common

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* Nonoverlap -> NonOverlap

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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  3. feat(behavior_velocity_planner::intersection): add occlusion detectio… 

    …n feature (autowarefoundation#3458)

* migrated

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* WIP

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* IntersectionModuleManager own one rtc_interface for intersection_occlusion

Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com>

* divide occlusion safety and activated

Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com>

* fixed to update occlusion cooperate status at construction

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed getOcclusionFirstStopSafety()

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed not to show both intersection and intersection_occlusion  after passed 1st stop line

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed the intersection_occlusion/inersection stop position afte r CLEARED

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* if occlusion cleared when eog is before 1st stop line, set stop line to 1st stop line and clear prev_occlusion_stop_line_pose_

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* (misc) fix viz, sync param

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed vehicle footprint offset calculation

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* add occcupancy_grid_map method/param var to launcher

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* migrated latest

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* use static pass judge line

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* removed some params

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* organized param

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* add occlusion enable flag

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* revert occupancy grid settings in this PR

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* remove comment

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed pass judge line collision detection to original

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* style(pre-commit): autofix

* use vehicle_length for static pass judge line

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed virtual wall marker

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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  4. feat(lidar_centerpoint_tvm): single inference lidar centerpoint node (a… 

    …utowarefoundation#3130)

* add signle_inference_node to lidar_centerpoint_tvm

* style(pre-commit): autofix

* change python3 to python

* changes model_name in lidar_centerpoint_tvm.launch.xml from centerpoint_tiny to centerpoint

* remove unnecessary parameters in single_inference_lidar_centerpoint_tvm.launch.xml

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com>
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  5. feat(intersection): add flag to enable creep towards intersection occ… 

    …lusion (autowarefoundation#3510)

* feat(intersection): add flag to enable creep towards intersection occlusion

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
    @takayuki5168
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  6. chore(lane_change): use BehaviorModuleOuput as output of generatePlan… 

    …nedPath (autowarefoundation#3508)

* chore(lane_change): use BehaviorModuleOuput as output of generatePlannedPath

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* generatePlannedPath->generateOutput and generateExtendedDrivableArea->extendOutputDrivableArea

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* move assignment in plan to generateOutput

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix pointer error in new module

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
    @takayuki5168 @zulfaqar-azmi-t4
    takayuki5168 and zulfaqar-azmi-t4 authored Apr 24, 2023
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  7. feat(intersection): send intersection/intersection_occlusion rtc stat… 

    …us (autowarefoundation#3511)

* Merge feat/intersection-occlusion-latest (#8)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed virtual wall marker

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* use is_occluded flag

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* 3 rtc intersection appears

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* clearCooperateStatus before sendRTC not to duplicate default/occlusion_first_stop_uuid

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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  8. feat(default_ad_api): add route change api (autowarefoundation#3197) 

    * feat: add route change api

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: reroute

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

---------

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
    @isamu-takagi
    isamu-takagi authored Apr 24, 2023
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  9. fix(compare_map_segmentation): update remaining compare map filters f… 

    …or dynamic map loader (autowarefoundation#3365)

* initialize dynamic loader class

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: static and dynamic loader

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix(voxel_distance_based): add processing time

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* feat: add map loader for voxel based approximatef filter

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: add debug processing time

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* feat: add dml for distance based compare map filter

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: dyanmic map loader for distance based

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* refactoring

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: voxel_distance_base bug

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: bug

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* docs: update readme

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: typo

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: typo

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: remove excessive comments

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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  10. feat(intersection): send intersection/intersection_occlusion rtc status( 

    fix autowarefoundation#3511) (autowarefoundation#3512)

* Merge feat/intersection-occlusion-latest (#8)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed virtual wall marker

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* use is_occluded flag

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* 3 rtc intersection appears

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* clearCooperateStatus before sendRTC not to duplicate default/occlusion_first_stop_uuid

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* clearCooperateStatus at the beginning of send RTC

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
    @soblin
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  11. feat(avoidance): separate debug marker namespace for each ignore reas… 

    …on (autowarefoundation#3507)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
    @satoshi-ota
    satoshi-ota authored Apr 24, 2023
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  12. fix(avoidance): use infinity to show that next traffic light doesn't … 

    …exist explicitly (autowarefoundation#3506)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
    @satoshi-ota
    satoshi-ota authored Apr 24, 2023
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  13. chore: update codeowners (autowarefoundation#3513) 

    Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
    @isamu-takagi
    isamu-takagi authored Apr 24, 2023
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  14. chore(intersection): add visualization dependency (autowarefoundation… 

    …#3509)

* chore(intersection): add visualization dependency

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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  15. feat(intersection): fixed virtual wall visualization (autowarefoundat… 

    …ion#3514)

* fixed virtual wall visualization

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed occlusion.enable param

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* reflected comments

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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  16. feat(pull_over): minor change with drivable area expansion (autowaref… 

    …oundation#3515)

* feat(pull_over): can use different offsets for right left drivable area expansion

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
    @takayuki5168
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