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chore: sync beta branch beta/v0.21.0 with tier4/main #1119

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Jan 29, 2024
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bbde223
docs(start_planner): update explanation about start pose candidate's …
kyoichi-sugahara Jan 10, 2024
2a6c16b
feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' modu…
maxime-clem Jan 10, 2024
27d8668
fix(map_loader): show traffic light regulatory element id per lanelet…
satoshi-ota Jan 10, 2024
a57eb0f
fix(start_planner): don't update start pose when backward driving is …
kyoichi-sugahara Jan 10, 2024
142bc49
docs(start_planner): update Purpose / Role of the document (#6002)
kyoichi-sugahara Jan 10, 2024
b20c2bf
refactor(motion_utils): clear the repeat definitions and correct the …
HansOersted Jan 10, 2024
4158eea
fix(static_drivable_area_expansion): fix bound extraction logic (#6006)
satoshi-ota Jan 10, 2024
f2936f0
feat(avoidance): check traffic light info in order to limit drivable …
satoshi-ota Jan 10, 2024
3db20c0
fix(avoidance): return shift path was not generated expectedly (#6017)
satoshi-ota Jan 10, 2024
a0da8c4
refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml (#6041)
SakodaShintaro Jan 10, 2024
12fb788
feat(behavior_velocity): add the option to keep the last valid observ…
soblin Jan 10, 2024
28c871a
feat(intersection): distinguish 1st/2nd attention lanelet (#6042)
soblin Jan 10, 2024
93ad311
fix(motion_velocity_smoother): make stopping_distance and stopping_ve…
brkay54 Jan 10, 2024
17a3408
refactor(tier4_planning_launch): remove duplicate arguments in launch…
maxime-clem Jan 10, 2024
49d5f22
fix(lane_change): check able to return to original lane in abort (#6034)
zulfaqar-azmi-t4 Jan 11, 2024
9b736d5
feat(start_planner): keep distance against front objects (#5983)
kyoichi-sugahara Jan 11, 2024
8785bf8
feat(ekf_localizer): tf publisher as an option (#6004)
amadeuszsz Jan 11, 2024
7597b28
refactor(behavior_path_planner): remove create_vehicle_footprint.hpp …
satoshi-ota Jan 11, 2024
6928fff
feat(start_planner): define collision check margin as list (#5994)
kyoichi-sugahara Jan 11, 2024
5a0e141
fix(map_based_prediction): yaw rate can be overwritten by max functio…
danielsanchezaran Jan 11, 2024
73c9e17
fix(intersection): fix bugs (#6050)
soblin Jan 11, 2024
d957135
feat(mission_planner): check shoulder lanelets for check_goal_footpri…
kosuke55 Jan 11, 2024
068f589
build(probabilistic_occupancy_grid_map): move header files to the pro…
esteve Jan 12, 2024
b51759f
feat(crosswalk): change the TTC formula (#6033)
yuki-takagi-66 Jan 12, 2024
08a02ba
refactor(shape_estimation): rework parameters (#5330)
PhoebeWu21 Jan 12, 2024
d1a86e6
feat(landmark_manager): add get_landmarrks func (#6063)
YamatoAndo Jan 12, 2024
39642d2
feat(perception_rviz_plugin): visualize object heading direction on 3…
technolojin Jan 12, 2024
0aa3927
fix(motion_utils): add guard to calcCurvature (#6070)
kosuke55 Jan 14, 2024
a4c9207
feat(geography_utils): add mgrs code in projector (#5990)
takayuki5168 Jan 15, 2024
5ab1804
feat(mpc): calculate mpc predicted trajectory in the world coordinate…
TakaHoribe Jan 15, 2024
b60975f
fix(autoware_auto_perception_rviz_plugin): move headers to a separate…
esteve Jan 15, 2024
eeed846
perf(bpp): reduce computational cost (#6054)
satoshi-ota Jan 15, 2024
6e550fc
fix(image_projection_based_fusion): re-organize the parameters for im…
miursh Jan 15, 2024
7b491e0
fix(ekf_localizer): fixed timer in ekf_localizer (#6066)
SakodaShintaro Jan 16, 2024
fe21159
feat(goal_planner): output objects of interest (#6077)
kosuke55 Jan 16, 2024
ea7cbbe
feat(start_planner): output objects of interest (#6078)
kosuke55 Jan 16, 2024
c52d091
feat(perception_rviz_plugin): rviz object covariances (#6074)
technolojin Jan 16, 2024
2a6dc0e
feat(static_centerline_optimizer): get behavior_velocity_planner's pa…
takayuki5168 Jan 16, 2024
3acbdd7
feat(goal_planner): add scale buffer to calcModuleRequestLength (#6068)
kosuke55 Jan 16, 2024
3928295
feat(avoidance): improve object detection area in order not to preven…
satoshi-ota Jan 16, 2024
a3f90f0
feat(ndt_scan_matcher): change coordinate of output_pose_covariance …
YamatoAndo Jan 16, 2024
c3f8e0a
feat(avoidance/goal_planner): execute avoidance and pull over simulta…
kosuke55 Jan 16, 2024
fe8f283
feat(yabloc): add yabloc trigger service to suspend and restart the e…
KYabuuchi Jan 17, 2024
bdd8d65
feat(goal_planner): exclude goals located laterally in no_parking_are…
kosuke55 Jan 17, 2024
67d7acf
chore(mission_planner): add logs for reroute safety check (#6096)
mkuri Jan 17, 2024
0466378
fix(AbLC, lane_change): fix module name inconsistency (#6090)
satoshi-ota Jan 17, 2024
dc3349b
fix(avoidance): fix detection area issue in avoidance module (#6097)
satoshi-ota Jan 17, 2024
d88f7d2
chore: add localization & mapping maintainers (#6085)
SakodaShintaro Jan 17, 2024
f78ea59
feat(obstacle_cruise_planner): add calculation of obstacle distance t…
isouf Jan 17, 2024
bc1751e
fix: rename `score_threshold` into `score_thresh` in config (#6098)
ktro2828 Jan 17, 2024
eda87bb
chore: update api package maintainers (#6086)
isamu-takagi Jan 17, 2024
fe11f23
feat(rviz_plugin): add string visualization plugin (#6100)
satoshi-ota Jan 17, 2024
b4b0002
feat(behavior_path_planner): output manager internal state as topic (…
satoshi-ota Jan 17, 2024
e3d4e75
refactor(goal_planner): remove duplicated execution condition (#6087)
kosuke55 Jan 18, 2024
3239b99
fix(behavior_velocity_planner, behavior_path_planner): refresh raw tr…
soblin Jan 18, 2024
1f9cdfe
fix(radar_tracks_msgs_converter): change default parameter for twist …
scepter914 Jan 18, 2024
dcc29f2
fix(pointpainting): fix param path declaration (#6106)
kminoda Jan 18, 2024
fe9e115
docs(crosswalk): update the document (#5583)
takayuki5168 Jan 18, 2024
ec9144c
feat(intersection): more precise pass judge handling considering occl…
soblin Jan 18, 2024
128ecc7
feat(blind_spot): consider opposite adjacent lane for wrong vehicles …
soblin Jan 18, 2024
c833bea
docs(vehicle_info): add docs for versioning (#6069)
kosuke55 Jan 18, 2024
90075ce
chore: update CODEOWNERS (#6038)
awf-autoware-bot[bot] Jan 18, 2024
8dbde9d
refactor(start_planner): visualize shifting section (#6103)
kyoichi-sugahara Jan 18, 2024
9b03b23
refactor(start_planner): separate start planner parameters and debug …
kyoichi-sugahara Jan 18, 2024
5d98bad
fix(start_planner): expand lane departure check for shift path (#6055)
kyoichi-sugahara Jan 18, 2024
d1059e5
fix(behavior_velocity_crosswalk_module): check if p_safety_slow is em…
beyzanurkaya Jan 18, 2024
08b3a3d
feat: always separate lidar preprocessing from pointcloud_container (…
kminoda Jan 19, 2024
c2de78d
feat(map_based_prediction): use obstacle acceleration for map predict…
danielsanchezaran Jan 19, 2024
4379781
feat(behavior_path_planner): add enable_all_modules_auto_mode argumen…
kyoichi-sugahara Jan 19, 2024
94357d2
feat(behavior_velocity_planner): add enable_all_modules_auto_mode arg…
kyoichi-sugahara Jan 20, 2024
bbf678d
refactor(start_planner): calculate drivable lanes efficiently (#6105)
kyoichi-sugahara Jan 20, 2024
4194028
chore(pointcloud_container): move glog_component to autoware_launch (…
kminoda Jan 20, 2024
9471311
fix(start/goal_planner): do not call freespace planner callback when …
kosuke55 Jan 21, 2024
f391cb5
feat(goal_planner): expand pull over lanes for detection area of path…
kosuke55 Jan 21, 2024
1a23d01
feat(goal_planner): display stop pose infomation (#6119)
kosuke55 Jan 21, 2024
547a025
feat(planning_validator): add invalid size error (#6126)
TakaHoribe Jan 21, 2024
19009f7
feat(dynamic_avoidance): add a guard of LPF for reference path change…
takayuki5168 Jan 21, 2024
57933b8
chore(planning): change params to vehicle tested values (#6118)
yuki-takagi-66 Jan 22, 2024
454e19d
docs(crosswalk): revise proposal (#6109)
yuki-takagi-66 Jan 22, 2024
704f509
docs(start_planner): fix image filename in README.md (#6121)
kyoichi-sugahara Jan 22, 2024
378bf3a
docs(side_shift): update side shift document (#6123)
kyoichi-sugahara Jan 22, 2024
f5cef6c
refactor(run_out): reorganize the parameter (#6064)
TomohitoAndo Jan 22, 2024
56dcff5
chore(run_out): add maintainer (#6130)
TomohitoAndo Jan 22, 2024
72b619d
feat(gnss_poser): use header.frame_id as gnss_frame (#6116)
KYabuuchi Jan 22, 2024
d04bb57
fix(external_velocity_limit_selector): revert "refactor(external_velo…
rej55 Jan 22, 2024
b5203a2
feat(simple_planning_simulator): add option to use initialpose for z …
TakaHoribe Jan 22, 2024
c2daf19
chore: update CODEOWNERS (#6135)
awf-autoware-bot[bot] Jan 22, 2024
0a5427d
fix(dynamic_avoidance): remove cerr (#6137)
satoshi-ota Jan 22, 2024
3019aab
refactor(intersection): divide source files and modifyPathVelocity (#…
soblin Jan 22, 2024
9cda3b3
fix(raw_vehicle_cmd_converter): fix parameter files to parse path to …
rej55 Jan 23, 2024
cb8de68
feat(goal_planner): use expanded pull over lanes for filtering in goa…
kosuke55 Jan 23, 2024
1aee603
fix(goal_planner): fix sudden stop and simpify process (#6120)
kosuke55 Jan 23, 2024
05f8ea3
feat(goal_planner): add deciding status to check collision for for a …
kosuke55 Jan 23, 2024
e4cae6f
feat(system_error_monitor): enable invalid trajectory size diag (#6127)
TakaHoribe Jan 23, 2024
acf3357
Merge remote-tracking branch 'tier4/beta/v0.21.0' into sync-upstream
TakaHoribe Jan 24, 2024
21d1a1f
Merge pull request #1116 from tier4/sync-upstream
tier4-autoware-public-bot[bot] Jan 24, 2024
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refactor(shape_estimation): rework parameters (autowarefoundation#5330)
* refactor(shape_estimation): rework parameters

Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com>

* style(pre-commit): autofix

* refactor(shape_estimation): rework parameters

Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com>

* refactor(shape_estimation): rework parameters

Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com>

---------

Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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PhoebeWu21 and pre-commit-ci[bot] authored Jan 12, 2024
commit 08a02ba95895f1df13e5147e9f24d74c4f87989f
1 change: 1 addition & 0 deletions perception/shape_estimation/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -64,4 +64,5 @@ rclcpp_components_register_node(shape_estimation_node

ament_auto_package(INSTALL_TO_SHARE
launch
config
)
6 changes: 1 addition & 5 deletions perception/shape_estimation/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -36,11 +36,7 @@ This node calculates a refined object shape (bounding box, cylinder, convex hull

## Parameters

| Name | Type | Default Value | Description |
| --------------------------- | ---- | ------------- | --------------------------------------------------- |
| `use_corrector` | bool | true | The flag to apply rule-based filter |
| `use_filter` | bool | true | The flag to apply rule-based corrector |
| `use_vehicle_reference_yaw` | bool | true | The flag to use vehicle reference yaw for corrector |
{{ json_to_markdown("perception/shape_estimation/schema/shape_estimation.schema.json") }}

## Assumptions / Known limits

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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
/**:
ros__parameters:
use_corrector: true
use_filter: true
use_vehicle_reference_yaw: false
use_vehicle_reference_shape_size: false
use_boost_bbox_optimizer: false
10 changes: 4 additions & 6 deletions perception/shape_estimation/launch/shape_estimation.launch.xml
Original file line number Diff line number Diff line change
@@ -1,18 +1,16 @@
<launch>
<arg name="input/objects" default="labeled_clusters"/>
<arg name="output/objects" default="shape_estimated_objects"/>
<arg name="use_filter" default="true"/>
<arg name="use_corrector" default="true"/>
<arg name="node_name" default="shape_estimation"/>
<!-- Parameter -->
<arg name="config_file" default="$(find-pkg-share shape_estimation)/config/shape_estimation.param.yaml"/>
<arg name="use_vehicle_reference_yaw" default="false"/>
<arg name="use_vehicle_reference_shape_size" default="false"/>
<arg name="use_boost_bbox_optimizer" default="false"/>

<node pkg="shape_estimation" exec="shape_estimation" name="$(var node_name)" output="screen">
<remap from="input" to="$(var input/objects)"/>
<remap from="objects" to="$(var output/objects)"/>
<param name="use_filter" value="$(var use_filter)"/>
<param name="use_corrector" value="$(var use_corrector)"/>
<param name="use_vehicle_reference_yaw" value="$(var use_vehicle_reference_yaw)"/>
<param name="use_boost_bbox_optimizer" value="$(var use_boost_bbox_optimizer)"/>
<param from="$(var config_file)"/>
</node>
</launch>
56 changes: 56 additions & 0 deletions perception/shape_estimation/schema/shape_estimation.schema.json
Original file line number Diff line number Diff line change
@@ -0,0 +1,56 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Shape Estimation Node",
"type": "object",
"definitions": {
"shape_estimation": {
"type": "object",
"properties": {
"use_corrector": {
"type": "boolean",
"description": "The flag to apply rule-based corrector.",
"default": "true"
},
"use_filter": {
"type": "boolean",
"description": "The flag to apply rule-based filter",
"default": "true"
},
"use_vehicle_reference_yaw": {
"type": "boolean",
"description": "The flag to use vehicle reference yaw for corrector",
"default": "false"
},
"use_vehicle_reference_shape_size": {
"type": "boolean",
"description": "The flag to use vehicle reference shape size",
"default": "false"
},
"use_boost_bbox_optimizer": {
"type": "boolean",
"description": "The flag to use boost bbox optimizer",
"default": "false"
}
},
"required": [
"use_corrector",
"use_filter",
"use_vehicle_reference_yaw",
"use_vehicle_reference_shape_size",
"use_boost_bbox_optimizer"
]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/shape_estimation"
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}
10 changes: 5 additions & 5 deletions perception/shape_estimation/src/node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -42,11 +42,11 @@ ShapeEstimationNode::ShapeEstimationNode(const rclcpp::NodeOptions & node_option
"input", rclcpp::QoS{1}, std::bind(&ShapeEstimationNode::callback, this, _1));

pub_ = create_publisher<DetectedObjectsWithFeature>("objects", rclcpp::QoS{1});
bool use_corrector = declare_parameter("use_corrector", true);
bool use_filter = declare_parameter("use_filter", true);
use_vehicle_reference_yaw_ = declare_parameter("use_vehicle_reference_yaw", true);
use_vehicle_reference_shape_size_ = declare_parameter("use_vehicle_reference_shape_size", true);
bool use_boost_bbox_optimizer = declare_parameter("use_boost_bbox_optimizer", false);
bool use_corrector = declare_parameter<bool>("use_corrector");
bool use_filter = declare_parameter<bool>("use_filter");
use_vehicle_reference_yaw_ = declare_parameter<bool>("use_vehicle_reference_yaw");
use_vehicle_reference_shape_size_ = declare_parameter<bool>("use_vehicle_reference_shape_size");
bool use_boost_bbox_optimizer = declare_parameter<bool>("use_boost_bbox_optimizer");
RCLCPP_INFO(this->get_logger(), "using boost shape estimation : %d", use_boost_bbox_optimizer);
estimator_ =
std::make_unique<ShapeEstimator>(use_corrector, use_filter, use_boost_bbox_optimizer);
Expand Down