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chore: sync tier4/autoware.universe:awf-latest #1201

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Mar 21, 2024
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48d20f1
fix(mpc_lateral_controller): reset ctrl_cmd_prev during manual mode (…
kyoichi-sugahara Mar 5, 2024
888fec6
feat(mrm_handler, emergency_handler): remove takeover (#6522)
veqcc Mar 6, 2024
d3886e4
refactor(mrm_handler): delete control_cmd publish function (#6514)
veqcc Mar 6, 2024
724bd80
chore: update maintainer (#6551)
badai-nguyen Mar 6, 2024
9b5a372
docs(image_projection_based_fusion): update segmentation_pointcloud_f…
badai-nguyen Mar 6, 2024
0e1761a
chore(ground_segmentation_launch): change max_z of cropbox filter to …
badai-nguyen Mar 6, 2024
81d5374
feat(route_handler): use start pose yaw and not lanelet length to se…
danielsanchezaran Mar 6, 2024
5206580
ci: update build-and-test and -differential jobs (#6471)
oguzkaganozt Mar 6, 2024
e1a3139
feat(avoidance): change lateral margin based on if it's parked vehicl…
satoshi-ota Mar 7, 2024
7081a61
feat(perception_online_evaluator): publish metrics of each object cla…
kosuke55 Mar 7, 2024
07a84d4
feat(start_planner): prevent hindering rear vehicles (#6545)
danielsanchezaran Mar 7, 2024
1bbbb2a
fix(start_planner): consider backward completion before preparing bli…
soblin Mar 7, 2024
a15a37a
fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml …
xmfcx Mar 7, 2024
cc00ed5
fix(drivable_area_expansion): fix invalid access (#6566)
satoshi-ota Mar 7, 2024
baa923e
refactor(radar_tracks_msgs_converter): rework parameters (#6533)
kaspermeck-arm Mar 7, 2024
3381296
fix(tier4_metrics_rviz_plugin): fix metrics_name column (#6568)
kosuke55 Mar 7, 2024
edc6ef0
fix(route_handler): query shoulder lane in getLaneletSequence() if on…
soblin Mar 7, 2024
f9dd38c
feat(out_of_lane): cut predicted paths after red lights (#6478)
maxime-clem Mar 8, 2024
c96a7f1
fix(emergency_handler): fix hazard status timeout (#6399)
veqcc Mar 8, 2024
d57e97e
chore(tier4_metrics_rviz_plugin): add kosuke55 and rej55 as maintaine…
kosuke55 Mar 8, 2024
aa84a5e
feat(tier4_metrics_rviz_plugin): switch visualization target topic (#…
kosuke55 Mar 8, 2024
71c5669
fix(component_state_monitor): change pose_estimator_pose rate (#6563)
YamatoAndo Mar 8, 2024
9993a9e
chore: update CODEOWNERS (#6557)
awf-autoware-bot[bot] Mar 9, 2024
e2aee50
feat(tier4_metrics_rviz_plugin): add selected metrics view tab (#6577)
kosuke55 Mar 10, 2024
1f6ed4a
fix(ndt_scan_matcher): added error handling about update_ndt (#6560)
SakodaShintaro Mar 11, 2024
ef751f6
fix(mpc_lateral_controller): precise backward driving (#6578)
takayuki5168 Mar 11, 2024
25bd77e
feat(lidar_centerpoint): remove files those are no longer supported n…
kminoda Mar 11, 2024
c07cdcb
chore(imu_corrector): relax gyro bias threshold parameter (#6582)
shmpwk Mar 11, 2024
8e8ef48
feat: add timeouts of request services (#6532)
TetsuKawa Mar 11, 2024
efe4e16
perf(common_ground_filter): performance tuning (#5861)
taisa1 Mar 11, 2024
8bdb542
fix(lane_departure_checker): empty lanelet polygon (#6588)
danielsanchezaran Mar 11, 2024
b404c8f
fix(mrm_handler): fix bug in operation mode availability timeout (#6513)
veqcc Mar 11, 2024
5adc394
build(perception_online_evaluator): add lanelet_extension dependency …
esteve Mar 11, 2024
c1b8f46
fix(avoidance): ignore objects are in intersection when the ego stops…
satoshi-ota Mar 12, 2024
94bbe3a
fix(perception_online_evaluator): fix build error (#6595)
satoshi-ota Mar 12, 2024
1de37a3
feat(map_based_prediction, etc): publish processing time in various p…
YoshiRi Mar 12, 2024
70bdf7f
fix(intersection_occlusion): estimate dynamic occlusion source with t…
soblin Mar 12, 2024
4747e74
fix(log-messages): reduce excessive log messages (#6406)
ahmeddesokyebrahim Mar 12, 2024
b7fdccc
fix(multi_object_tracker): object size becomes zero, risk of numeric …
technolojin Mar 12, 2024
b8c9701
feat(ndt_scan_matcher): added a function to check maximum distance of…
SakodaShintaro Mar 12, 2024
fc2b2c6
chore: add maintainer Yoshi Ri to packages (#6552)
YoshiRi Mar 12, 2024
69572f1
feat(tier4_autoware_utils): add published time debug class into utils…
brkay54 Mar 12, 2024
fcebec6
refactor(multi_object_tracker): define motion model class (#6587)
technolojin Mar 13, 2024
680953d
chore(cspell): merge `spell-check-partial` and `spell-check-all` (#6596)
HansRobo Mar 13, 2024
35d2143
fix(blind_spot): find collision point using sibling straight lanelet …
soblin Mar 13, 2024
283ff47
refactor(pointcloud_preprocessor): publish noise points in ring outli…
kyoichi-sugahara Mar 13, 2024
0eac12e
fix: add cspell ignore for CTRV (#6606)
h-ohta Mar 13, 2024
47d1212
feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion n…
YoshiRi Mar 13, 2024
10ed352
fix(shape_estimation): preserve irregular large size vehicle detected…
badai-nguyen Mar 13, 2024
3ba1ecd
feat(intersection_occlusion): quickly delete occlusion wall on change…
soblin Mar 13, 2024
b6cd8f4
feat(pid_longitudinal_controller): add maker for stop reason (#6579)
takayuki5168 Mar 13, 2024
59c504b
feat(tier4_simulator_launch): add option to disable all perception re…
brkay54 Mar 13, 2024
3c01dc9
perf(occupancy_grid_map_outlier_filter): improve performance (#5980)
TakanoTaiga Mar 14, 2024
f9fbd39
docs(diagnostic_graph_aggregator): update documents (#6613)
isamu-takagi Mar 14, 2024
ca46a8f
fix(multi_object_tracker): mot multi-step prediction is not work as i…
technolojin Mar 14, 2024
6ee9627
feat(pointcloud_preprocessor): add pipeline_latency_ms debug publishe…
brkay54 Mar 14, 2024
5a6c82e
feat(diagnostic_graph_aggregator): update tools (#6614)
isamu-takagi Mar 15, 2024
7ba8016
feat(multi_object_tracker): add object class filtering in tracking pr…
technolojin Mar 15, 2024
c653236
fix(avoidance): the module ignored merging objects unexpectedly (#6601)
satoshi-ota Mar 15, 2024
152b11e
fix(lane_change): consider max velocity during path planning (#6615)
zulfaqar-azmi-t4 Mar 15, 2024
7f36c52
feat: add published_time publisher debug to packages (#6490)
brkay54 Mar 15, 2024
aa0c633
fix(ndt_scan_matcher): avoid passing nullptr in ndt (#6620)
SakodaShintaro Mar 15, 2024
a993a06
ci: add pr-agent (#6632)
xmfcx Mar 15, 2024
353a2ec
ci(pr-agent): don't run automatically (#6634)
xmfcx Mar 15, 2024
52b2fd6
feat(behavior_path_planner_common): add general method for calculatin…
danielsanchezaran Mar 15, 2024
e1d19d6
feat(start_planner): move collision check to plan method (#6564)
danielsanchezaran Mar 15, 2024
c24c3b0
feat(published_time_publisher): add unit test (#6610)
brkay54 Mar 16, 2024
546df44
feat(start_planner): add general turn signal method to start planner …
danielsanchezaran Mar 18, 2024
7e09808
fix(route_handler): detect looped road shoulders in getShoulderLanele…
soblin Mar 18, 2024
523b084
feat(pointcloud_preprocessor): make concatenate node to publish point…
YoshiRi Mar 18, 2024
f82f420
fix(tier4_autoware_utils): fix build error (caused by `published_time…
satoshi-ota Mar 18, 2024
f03f7f2
feat(behavior_path_avoidance_module): use the general calc turn signa…
danielsanchezaran Mar 18, 2024
f5f0683
feat(start_planner): add a sanity check if the path is empty (#6643)
danielsanchezaran Mar 18, 2024
6241fe0
refactor(trajectory_follower_node): apply default param to the param …
kyoichi-sugahara Mar 18, 2024
8a9965a
feat(lane_change_module): add general method to get turn signal for L…
danielsanchezaran Mar 18, 2024
413514b
refactor(obstacle_cruise_planner): move slow down params to a clear l…
danielsanchezaran Mar 18, 2024
bd568e8
ci(build-and-test-differential): bring back clang-tidy-differential j…
xmfcx Mar 18, 2024
0625e4a
fix(ar_tag_based_localizer): added 1 second wait to test (#6624)
SakodaShintaro Mar 18, 2024
3b53061
fix(tier4_autoware_utils): clang-tidy errors for published_time_publi…
xmfcx Mar 18, 2024
1ca97cf
feat(avoidance): wait and see ambiguous stopped vehicle (#6631)
satoshi-ota Mar 18, 2024
1cbdfa3
feat(dynamic_obstacle_stop): add option to ignore unavoidable collisi…
maxime-clem Mar 19, 2024
46ac827
fix(behavior_velocity_run_out): construct predicted path up to max pr…
TomohitoAndo Mar 19, 2024
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fix(emergency_handler): fix hazard status timeout (autowarefoundation…
…#6399)

* fix(emergency_handler): fix hazard status timeout

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
  • Loading branch information
veqcc authored Mar 8, 2024
commit c96a7f189dcba810683c1a6e08ce86c09ecd2714
Original file line number Diff line number Diff line change
Expand Up @@ -131,14 +131,16 @@ class EmergencyHandler : public rclcpp::Node

// Heartbeat
rclcpp::Time stamp_hazard_status_;
bool is_hazard_status_timeout_;
void checkHazardStatusTimeout();

// Algorithm
void transitionTo(const int new_state);
void updateMrmState();
void operateMrm();
autoware_adapi_v1_msgs::msg::MrmState::_behavior_type getCurrentMrmBehavior();
bool isStopped();
bool isEmergency(const autoware_auto_system_msgs::msg::HazardStatus & hazard_status);
bool isEmergency();
};

#endif // EMERGENCY_HANDLER__EMERGENCY_HANDLER_CORE_HPP_
Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,7 @@ EmergencyHandler::EmergencyHandler() : Node("emergency_handler")
mrm_state_.stamp = this->now();
mrm_state_.state = autoware_adapi_v1_msgs::msg::MrmState::NORMAL;
mrm_state_.behavior = autoware_adapi_v1_msgs::msg::MrmState::NONE;
is_hazard_status_timeout_ = false;

// Timer
const auto update_period_ns = rclcpp::Rate(param_.update_rate).period();
Expand Down Expand Up @@ -135,7 +136,7 @@ autoware_auto_vehicle_msgs::msg::HazardLightsCommand EmergencyHandler::createHaz
HazardLightsCommand msg;

// Check emergency
const bool is_emergency = isEmergency(hazard_status_stamped_->status);
const bool is_emergency = isEmergency();

if (hazard_status_stamped_->status.emergency_holding) {
// turn hazard on during emergency holding
Expand Down Expand Up @@ -309,22 +310,27 @@ bool EmergencyHandler::isDataReady()
return true;
}

void EmergencyHandler::onTimer()
void EmergencyHandler::checkHazardStatusTimeout()
{
if (!isDataReady()) {
return;
}
const bool is_hazard_status_timeout =
(this->now() - stamp_hazard_status_).seconds() > param_.timeout_hazard_status;
if (is_hazard_status_timeout) {
if ((this->now() - stamp_hazard_status_).seconds() > param_.timeout_hazard_status) {
is_hazard_status_timeout_ = true;
RCLCPP_WARN_THROTTLE(
this->get_logger(), *this->get_clock(), std::chrono::milliseconds(1000).count(),
"heartbeat_hazard_status is timeout");
mrm_state_.state = autoware_adapi_v1_msgs::msg::MrmState::MRM_OPERATING;
publishControlCommands();
} else {
is_hazard_status_timeout_ = false;
}
}

void EmergencyHandler::onTimer()
{
if (!isDataReady()) {
return;
}

// Check whether heartbeat hazard_status is timeout
checkHazardStatusTimeout();

// Update Emergency State
updateMrmState();

Expand Down Expand Up @@ -369,7 +375,7 @@ void EmergencyHandler::updateMrmState()
using autoware_auto_vehicle_msgs::msg::ControlModeReport;

// Check emergency
const bool is_emergency = isEmergency(hazard_status_stamped_->status);
const bool is_emergency = isEmergency();

// Get mode
const bool is_auto_mode = control_mode_->mode == ControlModeReport::AUTONOMOUS;
Expand Down Expand Up @@ -412,7 +418,10 @@ autoware_adapi_v1_msgs::msg::MrmState::_behavior_type EmergencyHandler::getCurre
using autoware_auto_system_msgs::msg::HazardStatus;

// Get hazard level
const auto level = hazard_status_stamped_->status.level;
auto level = hazard_status_stamped_->status.level;
if (is_hazard_status_timeout_) {
level = HazardStatus::SINGLE_POINT_FAULT;
}

// State machine
if (mrm_state_.behavior == MrmState::NONE) {
Expand All @@ -435,10 +444,10 @@ autoware_adapi_v1_msgs::msg::MrmState::_behavior_type EmergencyHandler::getCurre
return mrm_state_.behavior;
}

bool EmergencyHandler::isEmergency(
const autoware_auto_system_msgs::msg::HazardStatus & hazard_status)
bool EmergencyHandler::isEmergency()
{
return hazard_status.emergency || hazard_status.emergency_holding;
return hazard_status_stamped_->status.emergency ||
hazard_status_stamped_->status.emergency_holding || is_hazard_status_timeout_;
}

bool EmergencyHandler::isStopped()
Expand Down