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feat: adds additional configuration flags for behavior_path_planner #171

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merged 3 commits into from
Feb 7, 2022
Merged

feat: adds additional configuration flags for behavior_path_planner #171

merged 3 commits into from
Feb 7, 2022

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zulfaqar-azmi-t4
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This is a .iv launcher https://github.com/tier4/autoware_launcher/pull/496
port.

Related PR:
autowarefoundation/autoware.universe#285
autowarefoundation/autoware.universe#287

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

PR Type

  • Improvement

Related Links

autowarefoundation/autoware.universe#234

Description

The additional configuration is used to allows avoidance over lane with same and
different direction, as well as allows safety margin between linestring and ego.

image

image

The configuration is necessary for the new behavior_path_planner features (autowarefoundation/autoware.universe#287)

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@taikitanaka3
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LGTM

@kenji-miyake
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@Mergifyio rebase

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mergify bot commented Feb 1, 2022

rebase

✅ Branch has been successfully rebased

j4tfwm6z pushed a commit that referenced this pull request Feb 1, 2022
@kenji-miyake
Merge pull request #171 from tier4/sync-upstream-develop
42235c0 
sync upstream develop
@zulfaqar-azmi-t4
feat: adds additional configuration flags for behavior_path_planner
773f972 
The additional configuration is used to allows avoidance over lane with same and
different direction, as well as allows safety margin between linestring and ego.

This is a `.iv` launcher tier4/autoware_launcher#496
port.

Related PR:
autowarefoundation/autoware.universe#285
autowarefoundation/autoware.universe#287

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
Change lateral_collision_margion to 1.0 to reflect changes.
b4844f2 
The decision to change the parameter value to 1.0 is made after performing
drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting
between planning control team on 3rd of February 2022.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@taikitanaka3 taikitanaka3 mentioned this pull request Feb 7, 2022
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taikitanaka3
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LGTM

@zulfaqar-azmi-t4
fix: slightly increase the safety buffer.
1d87a3d 
This increases the shift length to 1.7 + 0.5 * vehicle width.

The decision to increase is based on the discussion between planning team and
also the advice from the FI team.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 merged commit 34090d2 into tier4:tier4/universe Feb 7, 2022
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 deleted the feature/behavior-path-planner-drivable-area-extension branch February 7, 2022 05:42
kazuki527 pushed a commit to kazuki527/autoware_launch that referenced this pull request Apr 25, 2022
@tier4-autoware-private-bot
Merge pull request tier4#171 from tier4/sync-upstream
80c697b 
chore: sync upstream
takayuki5168 pushed a commit that referenced this pull request May 26, 2022
@tier4-autoware-private-bot @kosuke55
sync rc (#172)
d3ab786 
* change stop duration (#170) (#171)

* Fix remap topic name in perception.launch.xml (#173)

Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
takayuki5168 added a commit that referenced this pull request May 26, 2022
@tier4-autoware-private-bot @kenji-miyake
@tier4-autoware-public-bot @YamatoAndo @wep21 @zulfaqar-azmi-t4 @taikitanaka3 @h-ohta @yukkysaito @takayuki5168 @tkimura4 @pre-commit-ci @TakumiKozaka-T4 @yn-mrse
chore: sync upstream tier4 universe (#264)
d5a275b 
* chore: fix CI settings (#182)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* chore: sync files (#180)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: sync files (#184)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* feat: add paricle param (#181)

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

* chore: sync files (#185)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* Update sync-files.yaml

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* chore: sync files (#186)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: sync system config (#187)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* chore: sync files (#189)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: wep21 <wep21@users.noreply.github.com>

* chore: replace system config in system launch (#188)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* feat: adds additional configuration flags for behavior_path_planner (#171)

* feat: adds additional configuration flags for behavior_path_planner

The additional configuration is used to allows avoidance over lane with same and
different direction, as well as allows safety margin between linestring and ego.

This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496
port.

Related PR:
autowarefoundation/autoware.universe#285
autowarefoundation/autoware.universe#287

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

* Change lateral_collision_margion to 1.0 to reflect changes.

The decision to change the parameter value to 1.0 is made after performing
drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting
between planning control team on 3rd of February 2022.

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

* fix: slightly increase the safety buffer.

This increases the shift length to 1.7 + 0.5 * vehicle width.

The decision to increase is based on the discussion between planning team and
also the advice from the FI team.

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

* feat(behavior_velocity): add path marker visualization (#190)

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

* chore: sync files (#193)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: sync files (#194)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* chore: update workflow files name

Signed-off-by: h-ohta <hiroki.ota@tier4.jp>

Co-authored-by: h-ohta <h-ohta@users.noreply.github.com>
Co-authored-by: h-ohta <hiroki.ota@tier4.jp>

* chore: sync files (#195)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: h-ohta <h-ohta@users.noreply.github.com>

* feat: lateral controller param (#191)

* feat: define lat_controller_param_path

* feat: change for trajectory_follower params

* add args for lat_controller_param_path

* chore: fix wrong essential param to optional (#197)

* fix wrong param line

* move pointcloud_container_name param to optional

* fix: typo extra `>` (#199)

* Chore arrange perception rviz topics (#196)

* feat(autoware_launch): add occupancy grid vizualization

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

* feat(autoware_launch): add object recognition namespace to rviz

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

* fix: delete unused in control_launch (#200)

* fix: delete unused in control.launch.py

* fix: delete velocity_controller.param.yaml

* feat: add system_monitor parameters in sync-files (#201)

* chore: update settings of sync-files (#204)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* feat(control_launch): remove unnecessary params (#206)

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

* chore: sync files (#208)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* feat(atutoware.rviz): disable selectable for pointcloud visualization (#207)

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

* chore: sync files (#212)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* feat(behavior path planner): update params of behavior path for dynamic drivable area (#209)

* feat: load global param (#216)

* feat: load global param

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* chore: add comment about rosdistro migration

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix: add feature_remover after apollo segmentation (#217)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* chore: sync files (#222)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* Update sync-param-files.yaml

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
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* chore(perception_launch): update laserscan angle increment to pandar 64 level resolution (#220)

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

* feat: add enable option for image decompressor (#224)

* feat: add enable option for image decompressor

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* ci: fix flake8

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* feat(behavior_velocity): add merge from private marker (#223)

* feat(behavior_velocity): add merge from private marker

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

* feat(behavior_velocity): add factor text

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

* chore: expose traffic light model path arg (#225)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml (#227)

* feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml

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

* remove unnecessary comment

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

* feat(ndt_scan_matcher): add the tolerance of initial pose (#211)

* feat(ndt_scan_matcher): add the tolerance of initial pose

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

* change param name

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore: sync files (#229)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: sync files (#230)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* remove tier4/proposal

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* change cron schedules

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* sync sync-files.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>

* feat: add launch description for cpu usage adaptor (#210)

Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp>

* fix: delete aip dependents (#235)

* fix: delete aip dependents

* Update package.xml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* fix: disable awapi_vehicle_get_door_topic_state_monitor (#271)

Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp>

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Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com>
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Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com>
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maxime-clem pushed a commit that referenced this pull request May 27, 2022
@tier4-autoware-private-bot @tkimura4
@rej55 @YamatoAndo @dependabot @kenji-miyake @yabuta @tier4-autoware-public-bot @pre-commit-ci @wep21 @zulfaqar-azmi-t4 @taikitanaka3 @h-ohta @yukkysaito @takayuki5168
sync upstream (#206)
cb7edec 
* update parameter (#169)

* Port pure pursuit (#166)

* Fix control.launch.py

* Apply pre-commit

* Fix control.launch.py

* Change debug topic name in rviz setting

* fix typo in localization util.launch.py (#168)

* Feature/add covarinace param (#170)

* add covariance param

* add description

* remove unused param (#172)

* Bump streetsidesoftware/cspell-action from 1.3.4 to v1 (#174)

* Bump streetsidesoftware/cspell-action from 1.3.4 to 1.5.0

Bumps [streetsidesoftware/cspell-action](https://github.com/streetsidesoftware/cspell-action) from 1.3.4 to 1.5.0.
- [Release notes](https://github.com/streetsidesoftware/cspell-action/releases)
- [Changelog](https://github.com/streetsidesoftware/cspell-action/blob/main/CHANGELOG.md)
- [Commits](streetsidesoftware/cspell-action@v1.3.4...v1.5.0)

---
updated-dependencies:
- dependency-name: streetsidesoftware/cspell-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <support@github.com>

* Update spell_check_pr.yml

Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* fix: fix hdd_monitor param (#173)

* add rosbridge launch (#175)

* add rosbridge launch

* fix TODO document

add link to pull request

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* fix double-byte character

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* chore: sync files (#177)

Signed-off-by: GitHub <noreply@github.com>

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* ci: add sync-files.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* chore: remove old workflows

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

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Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

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* style: fix for yamllint

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* chore: minor update CI settings (#179)

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* [pre-commit.ci] pre-commit autoupdate (#178)

updates:
- [github.com/pre-commit/pre-commit-hooks: v4.0.1 → v4.1.0](pre-commit/pre-commit-hooks@v4.0.1...v4.1.0)
- [github.com/igorshubovych/markdownlint-cli: v0.29.0 → v0.30.0](igorshubovych/markdownlint-cli@v0.29.0...v0.30.0)
- [github.com/pre-commit/mirrors-prettier: v2.4.1 → v2.5.1](pre-commit/mirrors-prettier@v2.4.1...v2.5.1)
- [github.com/pycqa/isort: 5.9.3 → 5.10.1](PyCQA/isort@5.9.3...5.10.1)
- [github.com/psf/black: 21.9b0 → 22.1.0](psf/black@21.9b0...22.1.0)

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Signed-off-by: GitHub <noreply@github.com>

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* chore: sync files (#184)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* feat: add paricle param (#181)

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

* chore: sync files (#185)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* Update sync-files.yaml

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

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Signed-off-by: GitHub <noreply@github.com>

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Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* chore: sync files (#189)

Signed-off-by: GitHub <noreply@github.com>

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* chore: replace system config in system launch (#188)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* feat: adds additional configuration flags for behavior_path_planner (#171)

* feat: adds additional configuration flags for behavior_path_planner

The additional configuration is used to allows avoidance over lane with same and
different direction, as well as allows safety margin between linestring and ego.

This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496
port.

Related PR:
autowarefoundation/autoware.universe#285
autowarefoundation/autoware.universe#287

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

* Change lateral_collision_margion to 1.0 to reflect changes.

The decision to change the parameter value to 1.0 is made after performing
drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting
between planning control team on 3rd of February 2022.

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

* fix: slightly increase the safety buffer.

This increases the shift length to 1.7 + 0.5 * vehicle width.

The decision to increase is based on the discussion between planning team and
also the advice from the FI team.

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

* feat(behavior_velocity): add path marker visualization (#190)

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

* chore: sync files (#193)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: sync files (#194)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* chore: update workflow files name

Signed-off-by: h-ohta <hiroki.ota@tier4.jp>

Co-authored-by: h-ohta <h-ohta@users.noreply.github.com>
Co-authored-by: h-ohta <hiroki.ota@tier4.jp>

* chore: sync files (#195)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: h-ohta <h-ohta@users.noreply.github.com>

* feat: lateral controller param (#191)

* feat: define lat_controller_param_path

* feat: change for trajectory_follower params

* add args for lat_controller_param_path

* chore: fix wrong essential param to optional (#197)

* fix wrong param line

* move pointcloud_container_name param to optional

* fix: typo extra `>` (#199)

* Chore arrange perception rviz topics (#196)

* feat(autoware_launch): add occupancy grid vizualization

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

* feat(autoware_launch): add object recognition namespace to rviz

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

* fix: delete unused in control_launch (#200)

* fix: delete unused in control.launch.py

* fix: delete velocity_controller.param.yaml

* feat: add system_monitor parameters in sync-files (#201)

* chore: sync files (#202)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: h-ohta <h-ohta@users.noreply.github.com>

* chore: sync files (#203)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* chore: update settings of sync-files (#204)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* feat(control_launch): remove unnecessary params (#206)

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

* chore: sync files (#208)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* feat(atutoware.rviz): disable selectable for pointcloud visualization (#207)

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

* chore: sync files (#212)

Signed-off-by: GitHub <noreply@github.com>

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* delete vehicle parameters in longitudinal_controller.param.yaml

* apply pre-commit

* remove unused file

* update sync-param-files.yaml

* disable local_external_control in system_error_montitor_psim

Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
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Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
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Co-authored-by: wep21 <wep21@users.noreply.github.com>
Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
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TakaHoribe pushed a commit that referenced this pull request Jan 20, 2023
@kosuke55
feat(behavior_path_planner): ignore pull out start near lane end (#171)
1237386 
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
This was referenced Jan 21, 2023
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@zulfaqar-azmi-t4 @taikitanaka3 @kenji-miyake