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feat(behavior_path_planner): resample output path (backport #1604) #782

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merged 1 commit into from
Sep 19, 2023
Merged

feat(behavior_path_planner): resample output path (backport #1604) #782

merged 1 commit into from
Sep 19, 2023

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h-ohta
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@h-ohta h-ohta commented Aug 31, 2023 •
edited by yn-mrse
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Description

Related links

https://tier4.atlassian.net/browse/AEAP-661

Tests performed

https://tier4.atlassian.net/browse/AEAP-661 の「対策」欄にて効果確認した結果を記載している

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Interface changes

Effects on system behavior

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@takayuki5168 @h-ohta
feat(behavior_path_planner): resample output path (#1604)
c82aa76 
* feat(behavior_path_planner): resample output path

Signed-off-by: Takayuki Murooka <[email protected]>

* update param

Signed-off-by: Takayuki Murooka <[email protected]>

Signed-off-by: Takayuki Murooka <[email protected]>
@h-ohta h-ohta changed the title feat(behavior_path_planner): resample output path (#1604) feat(behavior_path_planner): resample output path (backport #1604) Aug 31, 2023
@h-ohta h-ohta marked this pull request as ready for review September 11, 2023 07:46
@yn-mrse
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yn-mrse commented Sep 19, 2023

@h-ohta
このロジックとしてのワーストケースは短い区間で曲率が
大きく変化する車線（S字狭路など）かと思われますが、
バリエーションとしてはきりがないので
いったんL字狭路まで動作確認のうえ
リスクとしては提示する方針で良さそうでしょうか？

@h-ohta
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h-ohta commented Sep 19, 2023

このロジックとしてのワーストケースは短い区間で曲率が
大きく変化する車線（S字狭路など）かと思われますが、
バリエーションとしてはきりがないので
いったんL字狭路まで動作確認のうえ
リスクとしては提示する方針で良さそうでしょうか？

これについてはそうとも言えないと思いますが、確かに何かしらの経路に対してこれまでとは違う経路が出来る可能性はあると思います。
リスクとしては提示したほうがいいのは同意です。

yn-mrse
yn-mrse approved these changes Sep 19, 2023
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リグレッション確認としてのクライテリアであるL字狭路までの動作確認は済んでいるためApproveします。

ただし、マージ後に下記のいずれかが必要と思われます。

  • リリース評価でS字狭路などを通過できることを動作確認
  • リリース時の申し送りとしてS字狭路などで走行できなくなるリスクの提示

@h-ohta
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h-ohta commented Sep 19, 2023

ただし、マージ後に下記のいずれかが必要と思われます。

  • リリース評価でS字狭路などを通過できることを動作確認
  • リリース時の申し送りとしてS字狭路などで走行できなくなるリスクの提示

どういう経路が通れなくなっているかという定量的なものを出すことは難しいため、どのような試験をリリース評価で実施するかの判断が難しいと思います。
出来るのはリスクの提示までになってしまうと思います

@h-ohta
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h-ohta commented Sep 19, 2023

このあたりは嶋さんと変化点確認の中で相談することとします

@h-ohta h-ohta merged commit 05a6073 into beta/v0.3.17 Sep 19, 2023
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@h-ohta h-ohta deleted the backport/1604 branch September 19, 2023 03:59
@h-ohta h-ohta mentioned this pull request Oct 4, 2023
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KeisukeShima added a commit that referenced this pull request Oct 5, 2023
@KeisukeShima
Revert "feat(behavior_path_planner): resample output path (backport #…
214f376 
…1604) (#782)"

This reverts commit 05a6073.
asa-naki pushed a commit that referenced this pull request Sep 17, 2024
@h-ohta @takayuki5168 @asa-naki
feat(behavior_path_planner): resample output path (backport #1604) (#782
d11da6a 
)

feat(behavior_path_planner): resample output path (#1604)

* feat(behavior_path_planner): resample output path



* update param

Signed-off-by: Takayuki Murooka <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
asa-naki added a commit that referenced this pull request Sep 17, 2024
@asa-naki
revert: #929,#909,#782
7cf1368
@asa-naki asa-naki mentioned this pull request Sep 18, 2024
Merged
asa-naki added a commit that referenced this pull request Sep 18, 2024
@asa-naki @h-ohta
@ito-san @takayuki5168 @KeisukeShima @pre-commit-ci @Owen-Liuyuxuan @takeshi-iwanari @sfukuta @yuki-takagi-66
feat: v0.3.19 rebase (#1540)
cc1ae5f 
* fix(system_monitor): extend command line to display (backport autowarefoundation#4553) (#768)

fix(system_monitor): extend command line to display (autowarefoundation#4553)

Signed-off-by: ito-san <[email protected]>
Co-authored-by: ito-san <[email protected]>

* feat(behavior_path_planner): resample output path (backport #1604) (#782)

feat(behavior_path_planner): resample output path (#1604)

* feat(behavior_path_planner): resample output path



* update param

Signed-off-by: Takayuki Murooka <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>

* ci: add dispatch-push-event workflow  (#803)

* ci: add dispatch-push-event workflow

Signed-off-by: Keisuke Shima <[email protected]>

* fix: change APP KEY

Signed-off-by: Keisuke Shima <[email protected]>

* chore: use strategy

Signed-off-by: Keisuke Shima <[email protected]>

* chore: change trigger

Signed-off-by: Keisuke Shima <[email protected]>

* pre-commit fixes

Signed-off-by: Keisuke Shima <[email protected]>

* Update .github/workflows/dispatch-push-event.yaml

* Update .github/workflows/dispatch-push-event.yaml

* style(pre-commit): autofix

* Update .github/workflows/dispatch-push-event.yaml

---------

Signed-off-by: Keisuke Shima <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909)

* fix(behavior_path): only apply spline interpolate for output, not for turn_signal processing

* fix implementation

* ci(pre-commit): autofix

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(behavior_path): fix base points vanishing and inconsistent lane_ids on the spline interpolated path (#929)

* add base points to resampled path in behavior_path

* Revert "fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909)"

This reverts commit c80c986.

* ci(pre-commit): autofix

* fix insert

* fix: not interpolate behavior velocity path

* Revert "Revert "fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909)""

This reverts commit e6dd540.

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(system_monitor): fix program command line reading (backport autowarefoundation#5191, autowarefoundation#5430) (#995)

* perf(system_monitor): fix program command line reading (autowarefoundation#5191)

* Fix program command line reading

Signed-off-by: Owen-Liuyuxuan <[email protected]>

* style(pre-commit): autofix

* fix spelling commandline->command_line

Signed-off-by: Owen-Liuyuxuan <[email protected]>

---------

Signed-off-by: Owen-Liuyuxuan <[email protected]>
Co-authored-by: Owen-Liuyuxuan <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(system_monitor): output command line (autowarefoundation#5430)

* fix(system_monitor): output command line

Signed-off-by: takeshi.iwanari <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: takeshi.iwanari <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

---------

Signed-off-by: Owen-Liuyuxuan <[email protected]>
Signed-off-by: takeshi.iwanari <[email protected]>
Co-authored-by: Yuxuan Liu <[email protected]>
Co-authored-by: Owen-Liuyuxuan <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: takeshi-iwanari <[email protected]>
Co-authored-by: Akihisa Nagata <[email protected]>

* feat(obstacle_stop): upd obstacle hunting (#1068)

* Adapted from PR #1458

Signed-off-by: Shigekazu Fukuta <[email protected]>

* Adapted from PR #1627

Signed-off-by: Shigekazu Fukuta <[email protected]>

* fix parameter name

Signed-off-by: Shigekazu Fukuta <[email protected]>

* Adapted from PR autowarefoundation#2647

Signed-off-by: Shigekazu Fukuta <[email protected]>

* ci(pre-commit): autofix

* fix build error

* ci(pre-commit): autofix

* remove comment line

* remove logic

* Delete parameters other than those added this time

* ci(pre-commit): autofix

* add stop vehicle check

* ci(pre-commit): autofix

* fix stop velocity threshold

* fix engage obstacle clear and stop threshold

* ci(pre-commit): autofix

---------

Signed-off-by: Shigekazu Fukuta <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(obstacle_avoidance_planner): add empty check (#1285)

* fix(obstacle_avoidance_planner): add empty check

* ci(pre-commit): autofix

* add invalid_argument

* delete empty check

* return code moved to end

* add warning log

* update rclcpp_debug

* delete debug log

* Delete unnecessary blank lines

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(virtual traffic light): suppress lauch (#1290)

* suppress launch

Signed-off-by: Yuki Takagi <[email protected]>

* add existence check

Signed-off-by: Yuki Takagi <[email protected]>

---------

Signed-off-by: Yuki Takagi <[email protected]>
Co-authored-by: Shigekazu Fukuta <[email protected]>

* revert: #929,#909,#782

* revert: #1068
- d56c191.

---------

Signed-off-by: ito-san <[email protected]>
Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: Keisuke Shima <[email protected]>
Signed-off-by: Owen-Liuyuxuan <[email protected]>
Signed-off-by: takeshi.iwanari <[email protected]>
Signed-off-by: Shigekazu Fukuta <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Co-authored-by: Hiroki OTA <[email protected]>
Co-authored-by: ito-san <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Yuxuan Liu <[email protected]>
Co-authored-by: Owen-Liuyuxuan <[email protected]>
Co-authored-by: takeshi-iwanari <[email protected]>
Co-authored-by: Shigekazu Fukuta <[email protected]>
Co-authored-by: Yuki TAKAGI <[email protected]>
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@yn-mrse yn-mrse yn-mrse approved these changes

@asa-naki asa-naki Awaiting requested review from asa-naki

@YoheiMishina YoheiMishina Awaiting requested review from YoheiMishina

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@h-ohta @yn-mrse @takayuki5168