fix(start_planner): check safety only when waiting approval (#5792) #1064
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kyoichi-sugahara
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rej55,
kosuke55,
soblin,
satoshi-ota,
shmpwk,
taikitanaka3,
TakaHoribe,
takayuki5168,
tkimura4 and
zulfaqar-azmi-t4
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…foundation#5792) 1. The `updateData()` function now sets `status_.is_safe_dynamic_objects` to true when `requiresDynamicObjectsCollisionDetection()` returns false. 2. The `isExecutionReady()` function now checks for dynamic object collisions only if `requiresDynamicObjectsCollisionDetection()` returns true and `isWaitingApproval()` also returns true. This change ensures that dynamic object collision detection is performed only when necessary and approval is pending. Signed-off-by: kyoichi-sugahara <[email protected]>
…dation#5782) * feat(start_planner): add surround moving obstacle check This commit introduces a new feature in the start_planner module for checking surrounding moving obstacles. - It adds parameters to specify the search radius and threshold velocity for moving obstacles, along with flags to indicate which types of objects should be checked. - The `noMovingObjectsAround` function has been added to filter dynamic objects within a certain radius based on their velocity. - If no moving objects are detected, the function returns true; otherwise, it returns false. - This feature enhances the safety of the start_planner by ensuring that the path can't be approved while surrond moving obstacles exist. --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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TakaHoribe
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Dec 8, 2023
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Description
The
updateData()function now setsstatus_.is_safe_dynamic_objectsto true whenrequiresDynamicObjectsCollisionDetection()returns false.The
isExecutionReady()function now checks for dynamic object collisions only ifrequiresDynamicObjectsCollisionDetection()returns true andisWaitingApproval()also returns true. This change ensures that dynamic object collision detection is performed only when necessary and approval is pending.beta/v0.18.0へのhotfix PR autoware.universe側
以下PRのcherry pick
autowarefoundation#5792
autowarefoundation#5782
autoware_launcher側のhotfix PR
tier4/autoware_launch#259
Tests performed
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Effects on system behavior
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