feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed #3928 #587

kosuke55 · 2023-06-19T12:40:02Z

Description

fix running module simulataneously

cherry-pick

feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed autowarefoundation/autoware.universe#3928
feat(behavior_path_planner): remove SUCCESS module candidate path autowarefoundation/autoware.universe#3929
fix(behavior_path_planner): init idling module autowarefoundation/autoware.universe#3709
feat(behavior_path_planner): remove lateral offset check for finish start planner autowarefoundation/autoware.universe#3931

Tests performed

psim, scneario tests in main

old archi https://evaluation.tier4.jp/evaluation/reports/fbd639d3-080a-5f66-8701-559bb1b770f2?project_id=prd_jt 1332
new archi https://evaluation.tier4.jp/evaluation/reports/fd64fc50-e100-5081-bcb3-f437378c7f97?project_id=prd_jt 1367
base_line 1331/1372(2023/06/19)

psim in this branch

start planner -> LC

pull_out_lc_0.8.1-2023-06-19_21.26.57.mp4

start planner -> LC -> avoidance

start_planner_lc_avoidance_0.8.1-2023-06-19_21.32.39.mp4

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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…nd keep candiate running module when approved module succeed (autowarefoundation#3928) * feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix pre commmit readability/braces Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix build Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…3798) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…towarefoundation#3929) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…tart planner (autowarefoundation#3931) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

shmpwk

LGTM 😭

…splay, isn't it? (#587) * feat(tier4_planning/vehicle_plugin): make plugins size scalable Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove space Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * scaling Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

…h FHD display, isn't it? (#587)" This reverts commit f96169c.

* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587) * feat(tier4_planning/vehicle_plugin): make plugins size scalable Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove space Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * scaling Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change diag message Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * fix module name Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * add manual module and ignoring modules Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Revert "feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587)" This reverts commit f96169c. * Revert "change diag message" This reverts commit dff01ce. * ci(pre-commit): autofix * fix spell check Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Revert "fix spell check" This reverts commit 208aa1e. * Revert "fix module name" This reverts commit cec7653. * revert ignore module Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * current_mode check update Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * ci(pre-commit): autofix * delete margin Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(system_error_monitor): manual modules (#793) * feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587) * feat(tier4_planning/vehicle_plugin): make plugins size scalable Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove space Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * scaling Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change diag message Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * fix module name Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * add manual module and ignoring modules Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Revert "feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587)" This reverts commit f96169c. * Revert "change diag message" This reverts commit dff01ce. * ci(pre-commit): autofix * fix spell check Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Revert "fix spell check" This reverts commit 208aa1e. * Revert "fix module name" This reverts commit cec7653. * revert ignore module Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * current_mode check update Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * ci(pre-commit): autofix * delete margin Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(ad_service_state_monitor): change configs name (#876) change configs name Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * feat(plannig_error_monitor): update error sharp angle threshold (#681) * fix error_sharp_angle Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * update readme Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> --------- Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * fix: add error handling when path is invalid (#934) * fix(behavior_path): delete duplicated * add error handling * fix: when path size is 1 * fix(detection_area): search collision index only in lanelet (#695) * fix(detection_area): search collision index only in lanelet * ci(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(detection_area): fix overline function (#930) * fix(detection_area): fix overline function * ci(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(route_handler): fix threshold for removing overlapping points (#1015) * fix(route_handler): fix threshold for removing overlapping points * fix * fix(ntp_monitor): move chronyc command execution to a timer (backport autowarefoundation#4634) (#880) fix(ntp_monitor): move chronyc command execution to a timer (autowarefoundation#4634) * fix(ntp_monitor): move chronyc command execution to a timer * add newly added parameter timeout to config --------- Signed-off-by: ito-san <fumihito.ito@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> * feat(elevation_map_loader): add error handling for std::runtime_error (backport autowarefoundation#4187) (#652) feat(elevation_map_loader): add error handling for std::runtime_error (autowarefoundation#4187) * feat(elevation_map_loader): Add error handling for std::runtime_error * feat(elevation_map_loader): add error message output --------- Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> * fix(system_monitor): extend command line to display (backport autowarefoundation#4553) (#768) fix(system_monitor): extend command line to display (autowarefoundation#4553) Signed-off-by: ito-san <fumihito.ito@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> * fix(system_monitor): high-memory process are not provided in MEM order (backport autowarefoundation#4654) (#769) fix(system_monitor): high-memory process are not provided in MEM order (autowarefoundation#4654) * fix(process_monitor): high-memory process are not being provided in %MEM order * changed option from 'g' to 'n' --------- Signed-off-by: ito-san <fumihito.ito@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> * fix(system_monitor): fix program command line reading (backport autowarefoundation#5191, autowarefoundation#5430) (#995) * perf(system_monitor): fix program command line reading (autowarefoundation#5191) * Fix program command line reading Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * fix spelling commandline->command_line Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(system_monitor): output command line (autowarefoundation#5430) * fix(system_monitor): output command line Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com> * feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729) (#856) * feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729) * feat(imu_corrector): add gyro_bias_validator Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert launch Signed-off-by: kminoda <koji.minoda@tier4.jp> * updat Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add debug publisher Signed-off-by: kminoda <koji.minoda@tier4.jp> * minor fix Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * style(pre-commit): autofix * add gtest Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * updat e readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add diagnostics Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * validator -> estimator Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix build Signed-off-by: kminoda <koji.minoda@tier4.jp> * update default parameter Signed-off-by: kminoda <koji.minoda@tier4.jp> * update comment Signed-off-by: kminoda <koji.minoda@tier4.jp> * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * updated Signed-off-by: kminoda <koji.minoda@tier4.jp> * minor update in readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * Fix NG -> WARN Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * build(imu_corrector): add missing diagnostic_updater dependency (autowarefoundation#4980) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * add gyro_bias estimation in diag ( autowarefoundation#5054) Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * ci(pre-commit): autofix --------- Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(imu_corrector): add gyro bias log (#918) add gyro_bias log Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * feat(system_error_monitor): add ignore_until_waiting_for_route module (#888) * add ignore_module Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * add description Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * ci(pre-commit): autofix * change name ignore_until_waiting_for_route Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * update description Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * rename function name and delete planning state Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * update description Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Update --------- Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> * feat(system_error_monitor): add ignore hartbeat timeout in initializing state (#972) * add ignore hartbeat timeout in initializing state Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * fix typo * Update comment * ci(pre-commit): autofix * fix typo * ci(pre-commit): autofix * update comment * ci(pre-commit): autofix --------- Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Signed-off-by: ito-san <fumihito.ito@tier4.jp> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com>

kosuke55 requested review from rej55, kyoichi-sugahara, satoshi-ota, shmpwk, taikitanaka3, TakaHoribe, takayuki5168, tkimura4, purewater0901 and zulfaqar-azmi-t4 as code owners June 19, 2023 12:40

github-actions bot added the planning label Jun 19, 2023

kosuke55 and others added 4 commits June 19, 2023 21:45

fix(avoidance): reset rtc status in yield status (autowarefoundation#…

65a5065

…3798) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

feat(behavior_path_planner): remove SUCCESS module candidate path (au…

40dd2b5

…towarefoundation#3929) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

feat(behavior_path_planner): remove lateral offset check for finish s…

72f83b4

…tart planner (autowarefoundation#3931) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

kosuke55 force-pushed the fix/pull_out_lc_0.8.1 branch from 352ffd4 to 72f83b4 Compare June 19, 2023 12:46

kosuke55 assigned shmpwk and tkimura4 Jun 19, 2023

shmpwk approved these changes Jun 19, 2023

View reviewed changes

shmpwk merged commit ff07ca1 into beta/v0.8.1 Jun 19, 2023

shmpwk deleted the fix/pull_out_lc_0.8.1 branch June 19, 2023 12:58

asa-naki added a commit that referenced this pull request Sep 4, 2023

Revert "feat(rviz_plugin): console meter is too large on the Rviz wit…

44f4235

…h FHD display, isn't it? (#587)" This reverts commit f96169c.

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feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed #3928 #587

feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed #3928 #587

kosuke55 commented Jun 19, 2023 •

edited

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shmpwk left a comment

feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed #3928 #587

feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed #3928 #587

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kosuke55 commented Jun 19, 2023 • edited Loading

Description

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Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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kosuke55 commented Jun 19, 2023 •

edited

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