feat(control_data_collecting_tool): add trajectory inside circle and lanelet2 trajectory #156

YoshihiroKogure · 2024-11-20T06:30:17Z

Description

Add a trajectory where the car moves around inside a circle for efficient data collection.
Add a trajectory generation method that creates trajectories along the roads on the map.

For more instructions please follow the instructions in README.md(here).

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

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Signed-off-by: Yoshihiro Kogure <[email protected]>

kosuke55 · 2024-11-22T04:37:55Z

control_data_collecting_tool/launch/control_data_collecting_tool.launch.py

+    # Define the argument for map_path
+    DeclareLaunchArgument("map_path", description="Path to the map directory")
+    # Use the map_path argument in parameters
+    map_path = LaunchConfiguration("map_path")
+
+    # Get the path to the common param file


Sorry I forgot but we can get map with /map/vector_map but it is ok for now.
Currently, a map must be specified even when using something other than along_road.

In ef6afa9, I modified it so that it works without reading the map_path when the along_road feature is not used.

(I had the wrong URL, so I have replaced it with the correct one.)

kosuke55 · 2024-11-22T05:12:44Z

reversal_loop_circle works!

kosuke55 · 2024-11-22T05:14:07Z

control_data_collecting_tool/config/course_param/reversal_loop_circle_param.yaml

+  ros__parameters:
+    # Course Specific Parameters
+    trajectory_radius: 35.0
+    enclosing_radius: 40.0


memo: the data collection area only indicates the center, currently need to set in params.
better to specify radius from area in the future

control_data_collecting_tool/README.md

Signed-off-by: Yoshihiro Kogure <[email protected]>

kosuke55 · 2024-11-26T05:16:05Z

works with along_road!

Signed-off-by: Yoshihiro Kogure <[email protected]>

kosuke55 · 2024-11-27T11:12:54Z

@YoshihiroKogure
could you please fix pre-commit

Signed-off-by: Yoshihiro Kogure <[email protected]>

YoshihiroKogure · 2024-11-27T14:16:53Z

@kosuke55
I've made some changes to the README, but it seems there's a conflict with the pre-commit modifications, and the fixes keep repeating every time I run pre-commit.

Signed-off-by: kosuke55 <[email protected]>

kosuke55 · 2024-11-28T12:06:58Z

@YoshihiroKogure
please pass spell check too 🙏

Signed-off-by: Yoshihiro Kogure <[email protected]>

YoshihiroKogure · 2024-11-29T04:44:00Z

@kosuke55
In 57856fa and 31449f9, I've made the changes so that the spell check passes.

Signed-off-by: Yoshihiro Kogure <[email protected]>

kosuke55

LGTM

…rajectory

YoshihiroKogure · 2024-12-02T15:27:01Z

@kosuke55
I have merged the main branch, so could you please rerun the tests?

…nd_lanelet2_trajectory

kosuke55 · 2024-12-02T15:47:45Z

@YoshihiroKogure
oh, pre-commits fails again.

This reverts commit 1cdbd05. Signed-off-by: Yoshihiro Kogure <[email protected]>

…circle_and_lanelet2_trajectory" This reverts commit d372051, reversing changes made to 50f46bd. Signed-off-by: Yoshihiro Kogure <[email protected]>

YoshihiroKogure · 2024-12-02T15:57:37Z

@kosuke55
It seems I accidentally merged the working branch. I have reverted it.

YoshihiroKogure added 8 commits November 20, 2024 12:25

Add trajectory inside circle

98cfbb1

Signed-off-by: Yoshihiro Kogure <[email protected]>

Fix bug

6305aa5

Signed-off-by: Yoshihiro Kogure <[email protected]>

Add lanelet2 trajectory

43316cf

Signed-off-by: Yoshihiro Kogure <[email protected]>

pre-commit run

40c6c9c

Signed-off-by: Yoshihiro Kogure <[email protected]>

Fix bug

a9d671a

Signed-off-by: Yoshihiro Kogure <[email protected]>

pre-commit

5d8654a

Signed-off-by: Yoshihiro Kogure <[email protected]>

Update README.md

61312ec

Signed-off-by: Yoshihiro Kogure <[email protected]>

Add parameter descriptions to the README

4adc140

Signed-off-by: Yoshihiro Kogure <[email protected]>

YoshihiroKogure requested review from kosuke55, TakaHoribe and takayuki5168 as code owners November 20, 2024 06:30

github-actions bot added the type:documentation label Nov 20, 2024

pre-commit-ci bot and others added 3 commits November 20, 2024 06:32

style(pre-commit): autofix

063f281

Revise the content

1e31241

Signed-off-by: Yoshihiro Kogure <[email protected]>

style(pre-commit): autofix

2d954d8

YoshihiroKogure changed the title ~~Feat/trajectory inside circle and lanelet2 trajectory~~ feat(control_data_collecting_tool): add trajectory inside circle and lanelet2 trajectory Nov 20, 2024

YoshihiroKogure added 3 commits November 21, 2024 04:44

Update README

ebd457e

Signed-off-by: Yoshihiro Kogure <[email protected]>

Update README

5f7df16

Signed-off-by: Yoshihiro Kogure <[email protected]>

Add comments

d3b8e37

Signed-off-by: Yoshihiro Kogure <[email protected]>

kosuke55 reviewed Nov 22, 2024

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control_data_collecting_tool/README.md Outdated Show resolved Hide resolved

YoshihiroKogure and others added 7 commits November 22, 2024 18:02

Update prameters for along_road course

7014de7

Signed-off-by: Yoshihiro Kogure <[email protected]>

style(pre-commit): autofix

80e95a8

Add default mask and mask selector

2362225

Signed-off-by: Yoshihiro Kogure <[email protected]>

Add mask to plotter

08bc15e

Signed-off-by: Yoshihiro Kogure <[email protected]>

Data collection concerning Mask

857f08b

Signed-off-by: Yoshihiro Kogure <[email protected]>

Modify the code to publish the pose

36ee806

Signed-off-by: Yoshihiro Kogure <[email protected]>

style(pre-commit): autofix

9f6e7ef

Add steer rate plot

c6d6cfb

Signed-off-by: Yoshihiro Kogure <[email protected]>

Update README.md and fix typo

3537a91

Signed-off-by: Yoshihiro Kogure <[email protected]>

Changes to the README and parameter values

42e524e

Signed-off-by: Yoshihiro Kogure <[email protected]>

kosuke55 requested review from 0x126 and taikitanaka3 as code owners November 28, 2024 06:45

kosuke55 force-pushed the feat/trajectory_inside_circle_and_lanelet2_trajectory branch from 57e9a5b to 42e524e Compare November 28, 2024 07:51

kosuke55 added 2 commits November 28, 2024 16:54

fix markdownlint

fa6c2a7

Signed-off-by: kosuke55 <[email protected]>

ignore prettier

b5a4630

Signed-off-by: kosuke55 <[email protected]>

kosuke55 force-pushed the feat/trajectory_inside_circle_and_lanelet2_trajectory branch from 452be86 to b5a4630 Compare November 28, 2024 09:20

YoshihiroKogure and others added 3 commits November 29, 2024 13:08

Fix typo

edf18ab

Signed-off-by: Yoshihiro Kogure <[email protected]>

style(pre-commit): autofix

57856fa

Add cpell:ignore

31449f9

Signed-off-by: Yoshihiro Kogure <[email protected]>

Remove cspell:ignore

ffd36b1

Signed-off-by: Yoshihiro Kogure <[email protected]>

kosuke55 approved these changes Dec 2, 2024

View reviewed changes

kosuke55 added the tag:run-build-and-test-differential label Dec 2, 2024

Merge branch 'main' into feat/trajectory_inside_circle_and_lanelet2_t…

50f46bd

…rajectory

YoshihiroKogure and others added 2 commits December 3, 2024 00:40

Merge branch 'feat/default_mask' into feat/trajectory_inside_circle_a…

d372051

…nd_lanelet2_trajectory

style(pre-commit): autofix

1cdbd05

YoshihiroKogure added 2 commits December 3, 2024 00:51

Revert "style(pre-commit): autofix"

1f5ec46

This reverts commit 1cdbd05. Signed-off-by: Yoshihiro Kogure <[email protected]>

Revert "Merge branch 'feat/default_mask' into feat/trajectory_inside_…

f98536d

…circle_and_lanelet2_trajectory" This reverts commit d372051, reversing changes made to 50f46bd. Signed-off-by: Yoshihiro Kogure <[email protected]>

kosuke55 enabled auto-merge (squash) December 2, 2024 15:58

kosuke55 merged commit f3e9313 into autowarefoundation:main Dec 2, 2024
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feat(control_data_collecting_tool): add trajectory inside circle and lanelet2 trajectory #156

feat(control_data_collecting_tool): add trajectory inside circle and lanelet2 trajectory #156

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YoshihiroKogure commented Dec 2, 2024

feat(control_data_collecting_tool): add trajectory inside circle and lanelet2 trajectory #156

feat(control_data_collecting_tool): add trajectory inside circle and lanelet2 trajectory #156

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YoshihiroKogure commented Nov 20, 2024 • edited Loading

Description

Related links

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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