feat(behavior_path_planner): resample output path (backport #1604) #782
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* 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
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@h-ohta |
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。 |
yn-mrse
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Sep 19, 2023
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。 |
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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 |
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) 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]>
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* 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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Description
で起きている問題を改善するため、behavior_pathの経路出力のタイミングで、spline補間を実施するようにする
https://github.com/tier4/autoware_launch.x1.eve/pull/422
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
Notes for reviewers
Interface changes
Effects on system behavior
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