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feat: update start goal planner v0.10.1 #846

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merged 26 commits into from
Sep 19, 2023

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kosuke55
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@kosuke55 kosuke55 commented Sep 16, 2023

Description

  • drivable areaが歪む問題修正
  • レーンをはみ出してもstart planner起動
  • fixed goal plannerはcurrent lanesにgoalを含むようになったら起動
  • start plannerで経路開始点が少しegoからずれる問題を修正
  • start plannerでbackward pathがレーンからはみ出した部分はcrop

Related links

https://github.com/tier4/autoware_launch.xx1/pull/636

Tests performed

https://evaluation.tier4.jp/evaluation/oidc/auth/cb/?code=ory_ac_N1b6veealaL9tA9-5ozIEizBFJr78RZR4M9dv1fHqdY.HzrRWlsYFz30fJBQM6iqf_6ixJpg8wquCXCU4KxMZ9Y&scope=openid+profile+email+offline_access&state=fbcb8cf47b4f41e78b06062d405201ec

1832/1845

psim

Notes for reviewers

Interface changes

Effects on system behavior

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kosuke55 and others added 25 commits September 17, 2023 01:17
…oundation#4856)

* ractor(goal_planner): refactor isAllowedGoalModification

Signed-off-by: kosuke55 <[email protected]>

* fix build

Signed-off-by: kosuke55 <[email protected]>

---------

Signed-off-by: kosuke55 <[email protected]>
…undation#4876)

* fix(behavior_path_planner): save original route goal pose

Signed-off-by: kosuke55 <[email protected]>

* fix return

Signed-off-by: kosuke55 <[email protected]>

---------

Signed-off-by: kosuke55 <[email protected]>
…utowarefoundation#4857)

* fix(behavior_path_planner): fix functions related to pull over lanes

Signed-off-by: kosuke55 <[email protected]>

* add buffer

Signed-off-by: kosuke55 <[email protected]>

* add comments

Signed-off-by: kosuke55 <[email protected]>

---------

Signed-off-by: kosuke55 <[email protected]>
…efoundation#4909)

fix(start_planner): fix pull out lanes without shoulder lanes

Signed-off-by: kosuke55 <[email protected]>
…towarefoundation#4929)

* fix(start_planner): crop backward path to start from narrow space

Signed-off-by: kosuke55 <[email protected]>

* check out of lanes

Signed-off-by: kosuke55 <[email protected]>

* refactor

Signed-off-by: kosuke55 <[email protected]>

---------

Signed-off-by: kosuke55 <[email protected]>
…ation#4950)

fix(start_planner): fix inverse order path points

Signed-off-by: kosuke55 <[email protected]>
…dation#4962)

* fix(start_planner): keep max back distace whithin lanes

Signed-off-by: kosuke55 <[email protected]>

* Update planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp

Co-authored-by: Kyoichi Sugahara <[email protected]>

* Update planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp

* style(pre-commit): autofix

---------

Signed-off-by: kosuke55 <[email protected]>
Co-authored-by: Kyoichi Sugahara <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: kosuke55 <[email protected]>
…h generation (autowarefoundation#4968)

Signed-off-by: kosuke55 <[email protected]>

include safety checker

Signed-off-by: kosuke55 <[email protected]>
@github-actions github-actions bot added documentation Improvements or additions to documentation planning labels Sep 16, 2023
@kosuke55 kosuke55 marked this pull request as draft September 16, 2023 16:49
@kosuke55 kosuke55 marked this pull request as ready for review September 19, 2023 01:08
@tkimura4 tkimura4 changed the title Feat/update start goal planner v0.10.1 feat: update start goal planner v0.10.1 Sep 19, 2023
@tkimura4 tkimura4 merged commit 5aca319 into tmp/beta/v0.10.1 Sep 19, 2023
17 of 24 checks passed
@tkimura4 tkimura4 deleted the feat/update_start_goal_planner_v0.10.1 branch September 19, 2023 02:12
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2 participants