From b434313c41f441e6476352b2c5172b7f0e370806 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Fri, 15 Sep 2023 01:51:50 +0900 Subject: [PATCH 1/5] hysteresis_factor_expand_rate Signed-off-by: kyoichi-sugahara --- .vscode/c_cpp_properties.json | 500 ++++++++++++++++++ .vscode/settings.json | 135 +++++ .../goal_planner/goal_planner.param.yaml | 3 + .../start_planner/start_planner.param.yaml | 3 + 4 files changed, 641 insertions(+) create mode 100644 .vscode/c_cpp_properties.json create mode 100644 .vscode/settings.json diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000000..3eb9ae7e7a --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,500 @@ +{ + "configurations": [ + { + "browse": { + "databaseFilename": "${default}", + "limitSymbolsToIncludedHeaders": false + }, + "includePath": [ + "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/logsim/include/**", + 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b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index f298406792..a8882b903a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -109,6 +109,9 @@ stop_condition: maximum_deceleration_for_stop: 1.0 maximum_jerk_for_stop: 1.0 + + hysteresis_factor_expand_rate: 1.0 + path_safety_check: # EgoPredictedPath ego_predicted_path: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index b62262423f..c0dbbe0294 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -76,6 +76,9 @@ stop_condition: maximum_deceleration_for_stop: 1.0 maximum_jerk_for_stop: 1.0 + + hysteresis_factor_expand_rate: 1.0 + path_safety_check: # EgoPredictedPath ego_predicted_path: From 147dd677684d2bbd9a6af5b620f6349b9fbf518f Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 14 Sep 2023 17:00:37 +0000 Subject: [PATCH 2/5] style(pre-commit): autofix --- .vscode/c_cpp_properties.json | 2 +- .vscode/settings.json | 268 +++++++++++++++++----------------- 2 files changed, 135 insertions(+), 135 deletions(-) diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 3eb9ae7e7a..24be68c012 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -497,4 +497,4 @@ } ], "version": 4 -} \ No newline at end of file +} diff --git a/.vscode/settings.json b/.vscode/settings.json index e09c2b4616..1b68a83d73 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,135 +1,135 @@ { - "python.autoComplete.extraPaths": [ - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/logsim/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/driving_log_replayer/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/yabloc_pose_initializer/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/yabloc_particle_filter/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/velodyne_msgs/local/lib/python3.10/dist-packages", - 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"/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_mapping_msgs/local/lib/python3.10/dist-packages", + "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_geometry_msgs/local/lib/python3.10/dist-packages", + "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_control_msgs/local/lib/python3.10/dist-packages", + "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_adapi_version_msgs/local/lib/python3.10/dist-packages", + "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/build/ad_api_visualizers", + "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/ad_api_visualizers/lib/python3.10/site-packages", + "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages", + "/opt/ros/humble/lib/python3.10/site-packages", + "/opt/ros/humble/local/lib/python3.10/dist-packages" + ] +} From f03b034847d1fe93593263af94be4c34405442a5 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Fri, 15 Sep 2023 13:34:55 +0900 Subject: [PATCH 3/5] add hysteresis_factor_expand_rate in SafetyCheckParams Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 ++ .../start_planner/start_planner.param.yaml | 2 ++ 2 files changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index a8882b903a..a1b0cdef02 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -165,6 +165,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon with the value + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index c0dbbe0294..6ad3bcfd36 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -132,6 +132,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0 From 02928cda0e1ba8c86bbf91ccb14f6d9be7234322 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Fri, 15 Sep 2023 23:59:03 +0900 Subject: [PATCH 4/5] delete setting files Signed-off-by: kyoichi-sugahara --- .vscode/c_cpp_properties.json | 500 ---------------------------------- .vscode/settings.json | 135 --------- 2 files changed, 635 deletions(-) delete mode 100644 .vscode/c_cpp_properties.json delete mode 100644 .vscode/settings.json diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json deleted file mode 100644 index 24be68c012..0000000000 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"/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_vehicle_msgs/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_system_msgs/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_planning_msgs/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_perception_msgs/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_mapping_msgs/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_geometry_msgs/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_auto_control_msgs/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_adapi_version_msgs/local/lib/python3.10/dist-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/build/ad_api_visualizers", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/ad_api_visualizers/lib/python3.10/site-packages", - "/home/kyoichi-sugahara/workspace/pilot-auto.awf-latest/install/autoware_adapi_v1_msgs/local/lib/python3.10/dist-packages", - "/opt/ros/humble/lib/python3.10/site-packages", - "/opt/ros/humble/local/lib/python3.10/dist-packages" - ] -} From 455ebbcbbdc98eca9ab5af95529133409c37d3df Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Sat, 16 Sep 2023 01:51:13 +0900 Subject: [PATCH 5/5] revert unnecessary change Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 3 --- .../start_planner/start_planner.param.yaml | 3 --- 2 files changed, 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index a1b0cdef02..da42efc7f9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -109,9 +109,6 @@ stop_condition: maximum_deceleration_for_stop: 1.0 maximum_jerk_for_stop: 1.0 - - hysteresis_factor_expand_rate: 1.0 - path_safety_check: # EgoPredictedPath ego_predicted_path: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 6ad3bcfd36..586676fbbb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -76,9 +76,6 @@ stop_condition: maximum_deceleration_for_stop: 1.0 maximum_jerk_for_stop: 1.0 - - hysteresis_factor_expand_rate: 1.0 - path_safety_check: # EgoPredictedPath ego_predicted_path: