diff --git a/.github/workflows/custom_spell.json b/.github/workflows/custom_spell.json index 676f628922b..50ca6f5fe94 100644 --- a/.github/workflows/custom_spell.json +++ b/.github/workflows/custom_spell.json @@ -46,6 +46,8 @@ "Tschirnhaus", "walltime", "xerces", - "xercesc" + "xercesc", + "Szymon", + "Parapura" ] } diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst index b664724b675..8c2f6c160a9 100644 --- a/common/math/arithmetic/CHANGELOG.rst +++ b/common/math/arithmetic/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package arithmetic * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml index 908b76bdea3..4a6df50ef0a 100644 --- a/common/math/arithmetic/package.xml +++ b/common/math/arithmetic/package.xml @@ -2,7 +2,7 @@ arithmetic - 7.0.2 + 7.3.1 arithmetic library for scenario_simulator_v2 Tatsuya Yamasaki Apache License 2.0 diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst index 398d518f7aa..edacd2450c1 100644 --- a/common/math/geometry/CHANGELOG.rst +++ b/common/math/geometry/CHANGELOG.rst @@ -21,6 +21,112 @@ Changelog for package geometry * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge pull request `#1475 `_ from tier4/fix/math-closest-point + Fix bug in `math::geometry::getClosestPoses` +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Fix spell mistake +* Fix getClosestPoses with naive algorithm +* Apply clang-format +* Add some test cases for getClosestPoses +* Contributors: Kotaro Yoshimoto, f0reachARR + +7.3.0 (2024-12-16) +------------------ +* Merge pull request `#1481 `_ from tier4/feature/multi-level-lanelet-support + Feature/multi level lanelet support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* ref(traffic_simulator, simple_sensor_simulator): refactor altitude checks +* Refactor code to improve readability based on SonarQube findings +* Merge branch 'master' into feature/multi-level-lanelet-support +* Remove comment +* Merge branch 'master' into feature/multi-level-lanelet-support +* Fix missing newline at end of file +* [RJD-1369] Improve Collision Solving for Multi-Level Support + - Enhanced BehaviorTree to consider altitude when detecting potential obstacles, + allowing to ignore objects located at different altitudes. + - Modified the detection sensor by introducing Ego plane determination to exclude objects below the Ego plane, + preventing unnecessary slowing or stopping caused by incorrect detections. +* Contributors: Dawid Moszynski, Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Cleanup +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Add new static member function `RelativeSpeedCondition::evaluate` +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge pull request `#1470 `_ from tier4/fix/snor-cloud-issue-8-1 diff --git a/common/math/geometry/include/geometry/plane.hpp b/common/math/geometry/include/geometry/plane.hpp new file mode 100644 index 00000000000..509e3c6e63f --- /dev/null +++ b/common/math/geometry/include/geometry/plane.hpp @@ -0,0 +1,45 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef GEOMETRY__PLANE_HPP_ +#define GEOMETRY__PLANE_HPP_ + +#include +#include +#include + +namespace math +{ +namespace geometry +{ + +/// @class Plane +/// @brief Represents a plane in 3D space, defined by a normal vector and a point on the plane. +/// +/// The plane is described using the equation: +/// Ax + By + Cz + D = 0 +/// where: +/// - A, B, C are the components of the normal vector (normal_ attribute). +/// - D is the offset from the origin, calculated using the point and normal vector (d_ attribute). +struct Plane +{ + Plane(const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Vector3 & normal); + auto offset(const geometry_msgs::msg::Point & point) const -> double; + + const geometry_msgs::msg::Vector3 normal_; + const double d_; +}; +} // namespace geometry +} // namespace math +#endif // GEOMETRY__PLANE_HPP_ diff --git a/common/math/geometry/include/geometry/quaternion/get_angle_difference.hpp b/common/math/geometry/include/geometry/quaternion/get_angle_difference.hpp new file mode 100644 index 00000000000..4e9450b2b0a --- /dev/null +++ b/common/math/geometry/include/geometry/quaternion/get_angle_difference.hpp @@ -0,0 +1,39 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef GEOMETRY__QUATERNION__GET_ANGLE_DIFFERENCE_HPP_ +#define GEOMETRY__QUATERNION__GET_ANGLE_DIFFERENCE_HPP_ + +#include +#include + +namespace math +{ +namespace geometry +{ +template < + typename T, std::enable_if_t>, std::nullptr_t> = nullptr> +auto getAngleDifference(const T & quat1, const T & quat2) -> double +{ + const Eigen::Quaterniond q1(quat1.w, quat1.x, quat1.y, quat1.z); + const Eigen::Quaterniond q2(quat2.w, quat2.x, quat2.y, quat2.z); + + const Eigen::AngleAxisd delta(q1.inverse() * q2); + + return std::abs(delta.angle()); // [rad] +} +} // namespace geometry +} // namespace math + +#endif // GEOMETRY__QUATERNION__GET_ANGLE_DIFFERENCE_HPP_ diff --git a/common/math/geometry/include/geometry/quaternion/get_normal_vector.hpp b/common/math/geometry/include/geometry/quaternion/get_normal_vector.hpp new file mode 100644 index 00000000000..318a239c16d --- /dev/null +++ b/common/math/geometry/include/geometry/quaternion/get_normal_vector.hpp @@ -0,0 +1,41 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef GEOMETRY__VECTOR3__GET_NORMAL_VECTOR_HPP_ +#define GEOMETRY__VECTOR3__GET_NORMAL_VECTOR_HPP_ + +#include +#include +#include + +namespace math +{ +namespace geometry +{ +template < + typename T, std::enable_if_t>, std::nullptr_t> = nullptr> +auto getNormalVector(const T & orientation) -> geometry_msgs::msg::Vector3 +{ + const Eigen::Matrix3d rotation_matrix = getRotationMatrix(orientation); + + return geometry_msgs::build() + .x(rotation_matrix(0, 2)) + .y(rotation_matrix(1, 2)) + .z(rotation_matrix(2, 2)); +} + +} // namespace geometry +} // namespace math + +#endif // GEOMETRY__VECTOR3__GET_NORMAL_VECTOR_HPP_ diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml index 5116ae32538..2c5768dffef 100644 --- a/common/math/geometry/package.xml +++ b/common/math/geometry/package.xml @@ -2,7 +2,7 @@ geometry - 7.0.2 + 7.3.1 geometry math library for scenario_simulator_v2 application Masaya Kataoka Apache License 2.0 diff --git a/common/math/geometry/src/bounding_box.cpp b/common/math/geometry/src/bounding_box.cpp index db3d75b2f9f..49b90bf48dc 100644 --- a/common/math/geometry/src/bounding_box.cpp +++ b/common/math/geometry/src/bounding_box.cpp @@ -62,22 +62,12 @@ std::optional> get const auto poly0 = toPolygon2D(pose0, bbox0); const auto poly1 = toPolygon2D(pose1, bbox1); - if (boost::geometry::intersects(poly0, poly1)) { - return std::nullopt; - } - if (boost::geometry::intersects(poly1, poly0)) { - return std::nullopt; - } if (boost::geometry::disjoint(poly0, poly1)) { auto point0 = boost_point(); auto point1 = boost_point(); auto min_distance = boost::numeric::bounds::highest(); - auto segments = boost::make_iterator_range( - boost::geometry::segments_begin(poly0), boost::geometry::segments_end(poly0)); - auto points = boost::make_iterator_range( - boost::geometry::points_begin(poly1), boost::geometry::points_end(poly1)); - auto findNearestPointInSegment = [&](const auto & segment, const auto & points) { + auto findNearestPointToSegment = [&](const auto & segment, const auto & points) { for (auto && point : points) { auto nearest_point_from_segment = pointToSegmentProjection(point, *segment.first, *segment.second); @@ -90,9 +80,18 @@ std::optional> get } }; - for (auto && segment : segments) { - findNearestPointInSegment(segment, points); - } + auto findNearestPointInPolygon = [&](const auto & poly0, const auto & poly1) { + auto segments = boost::make_iterator_range( + boost::geometry::segments_begin(poly0), boost::geometry::segments_end(poly0)); + auto points = boost::geometry::exterior_ring(poly1); + + for (auto && segment : segments) { + findNearestPointToSegment(segment, points); + } + }; + + findNearestPointInPolygon(poly0, poly1); + findNearestPointInPolygon(poly1, poly0); return std::make_pair(toPose(point0), toPose(point1)); } diff --git a/common/math/geometry/src/plane.cpp b/common/math/geometry/src/plane.cpp new file mode 100644 index 00000000000..6439839443c --- /dev/null +++ b/common/math/geometry/src/plane.cpp @@ -0,0 +1,39 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include +#include + +namespace math +{ +namespace geometry +{ +Plane::Plane(const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Vector3 & normal) +: normal_(normal), d_(-(normal.x * point.x + normal.y * point.y + normal.z * point.z)) +{ + if (normal.x == 0.0 && normal.y == 0.0 && normal.z == 0.0) { + THROW_SIMULATION_ERROR("Plane cannot be created using zero normal vector."); + } else if (std::isnan(point.x) || std::isnan(point.y) || std::isnan(point.z)) { + THROW_SIMULATION_ERROR("Plane cannot be created using point with NaN value."); + } +} + +auto Plane::offset(const geometry_msgs::msg::Point & point) const -> double +{ + return normal_.x * point.x + normal_.y * point.y + normal_.z * point.z + d_; +} +} // namespace geometry +} // namespace math diff --git a/common/math/geometry/test/src/test_bounding_box.cpp b/common/math/geometry/test/src/test_bounding_box.cpp index b3449f994e4..00232501d72 100644 --- a/common/math/geometry/test/src/test_bounding_box.cpp +++ b/common/math/geometry/test/src/test_bounding_box.cpp @@ -19,6 +19,7 @@ #include #include "expect_eq_macros.hpp" +#include "geometry/distance.hpp" #include "test_utils.hpp" TEST(BoundingBox, getPointsFromBboxDefault) @@ -83,7 +84,8 @@ TEST(BoundingBox, toPolygon2D_onlyTranslation) } /** - * @note Test obtaining polygon from bounding box with full transformation applied (translation + rotation). + * @note Test obtaining polygon from bounding box with full transformation applied (translation + + * rotation). */ TEST(BoundingBox, toPolygon2D_fullPose) { @@ -135,6 +137,65 @@ TEST(BoundingBox, getPolygonDistanceWithoutCollision) EXPECT_DOUBLE_EQ(ans.value(), 3.0); } +TEST(BoundingBox, getClosestPoses) +{ + traffic_simulator_msgs::msg::BoundingBox bbox = makeBbox(1.0, 1.0, 1.0); + geometry_msgs::msg::Pose pose0; + geometry_msgs::msg::Pose pose1 = makePose(5.0, 5.0); + + { + const auto actual = math::geometry::getClosestPoses(pose0, bbox, pose1, bbox); + ASSERT_TRUE(actual); + + geometry_msgs::msg::Pose expected_pose0 = makePose(0.5, 0.5); + geometry_msgs::msg::Pose expected_pose1 = makePose(4.5, 4.5); + EXPECT_POSE_EQ(actual.value().first, expected_pose1); + EXPECT_POSE_EQ(actual.value().second, expected_pose0); + } + + { // reverse order + const auto actual = math::geometry::getClosestPoses(pose1, bbox, pose0, bbox); + ASSERT_TRUE(actual); + + geometry_msgs::msg::Pose expected_pose0 = makePose(0.5, 0.5); + geometry_msgs::msg::Pose expected_pose1 = makePose(4.5, 4.5); + EXPECT_POSE_EQ(actual.value().first, expected_pose0); + EXPECT_POSE_EQ(actual.value().second, expected_pose1); + } +} + +TEST(BoundingBox, getClosestPosesWithAlmostTouch) +{ + traffic_simulator_msgs::msg::BoundingBox bbox0 = makeBbox(1.0, 1.0, 1.0); + geometry_msgs::msg::Pose pose0; + traffic_simulator_msgs::msg::BoundingBox bbox1 = makeBbox(1.0, 10.0, 1.0); + geometry_msgs::msg::Pose pose1 = makePose(1.1, 0.0); + + { + const auto actual = math::geometry::getClosestPoses(pose0, bbox0, pose1, bbox1); + ASSERT_TRUE(actual); + const auto distance = math::geometry::getDistance(actual.value().first, actual.value().second); + EXPECT_NEAR(distance, 0.1, 0.0001); + } + + { // reverse order + const auto actual = math::geometry::getClosestPoses(pose1, bbox1, pose0, bbox0); + ASSERT_TRUE(actual); + const auto distance = math::geometry::getDistance(actual.value().first, actual.value().second); + EXPECT_NEAR(distance, 0.1, 0.0001); + } +} + +TEST(BoundingBox, getClosestPosesWithIntersection) +{ + traffic_simulator_msgs::msg::BoundingBox bbox = makeBbox(1.0, 1.0, 1.0); + geometry_msgs::msg::Pose pose0; + geometry_msgs::msg::Pose pose1 = makePose(0.6, 0.6); + + const auto actual = math::geometry::getClosestPoses(pose0, bbox, pose1, bbox); + ASSERT_FALSE(actual); +} + int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst index cf3bc3adf29..72637382ee5 100644 --- a/common/scenario_simulator_exception/CHANGELOG.rst +++ b/common/scenario_simulator_exception/CHANGELOG.rst @@ -21,6 +21,96 @@ Changelog for package scenario_simulator_exception * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge pull request `#1486 `_ from tier4/fix/speed-condition/backward-compatibility + Fix/speed condition/backward compatibility +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Add new parameter `speed_condition` to switch compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/common/scenario_simulator_exception/include/scenario_simulator_exception/concatenate.hpp b/common/scenario_simulator_exception/include/scenario_simulator_exception/concatenate.hpp index 0e967d66821..efb9139b7e2 100644 --- a/common/scenario_simulator_exception/include/scenario_simulator_exception/concatenate.hpp +++ b/common/scenario_simulator_exception/include/scenario_simulator_exception/concatenate.hpp @@ -25,12 +25,8 @@ namespace common inline namespace scenario_simulator_exception { inline auto concatenate = [](auto &&... xs) { - auto write = [](auto && os, auto && x) { - os.get() << std::forward(x); - return std::forward(os); - }; std::stringstream result; - fold_left(write, std::ref(result), std::forward(xs)...); + (result << ... << std::forward(xs)); return result.str(); }; } // namespace scenario_simulator_exception diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml index a005e5748d6..59c822e347e 100644 --- a/common/scenario_simulator_exception/package.xml +++ b/common/scenario_simulator_exception/package.xml @@ -2,7 +2,7 @@ scenario_simulator_exception - 7.0.2 + 7.3.1 Exception types for scenario simulator Tatsuya Yamasaki Apache License 2.0 diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst index 4a6b3ee0902..3590c0e5a4e 100644 --- a/common/simple_junit/CHANGELOG.rst +++ b/common/simple_junit/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package junit_exporter * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml index 25a635b3db9..59de004336c 100644 --- a/common/simple_junit/package.xml +++ b/common/simple_junit/package.xml @@ -2,7 +2,7 @@ simple_junit - 7.0.2 + 7.3.1 Lightweight JUnit library for ROS 2 Masaya Kataoka Tatsuya Yamasaki diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst index 8fe30da0cf0..88d38680851 100644 --- a/common/status_monitor/CHANGELOG.rst +++ b/common/status_monitor/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package status_monitor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml index 59d9d6502a2..2b11b7d5db3 100644 --- a/common/status_monitor/package.xml +++ b/common/status_monitor/package.xml @@ -2,7 +2,7 @@ status_monitor - 7.0.2 + 7.3.1 none Tatsuya Yamasaki Apache License 2.0 diff --git a/docs/developer_guide/Communication.md b/docs/developer_guide/Communication.md index 48d22522178..1da73ed82f0 100644 --- a/docs/developer_guide/Communication.md +++ b/docs/developer_guide/Communication.md @@ -5,48 +5,45 @@ | topic | type | note | |--------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------| -| `/autoware/state` | [`autoware_system_msgs/msg/AutowareState`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_system_msgs/msg/AutowareState.msg) | Used in UserDefinedValueCondition : `currentAutowareState` | +| `/api/external/get/emergency` | [`tier4_external_api_msgs/msg/Emergency`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_external_api_msgs/msg/Emergency.msg) | Used in UserDefinedValueCondition `currentEmergencyState` | +| `/api/external/get/rtc_status` | [`tier4_rtc_msgs/msg/CooperateStatusArray`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/msg/CooperateStatusArray.msg) | | +| `/api/fail_safe/mrm_state` | [`autoware_adapi_v1_msgs/msg/MrmState`](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/system/msg/MrmState.msg) | Used in UserDefinedValueCondition `currentMinimumRiskManeuverState` | +| `/api/iv_msgs/planning/scenario_planning/trajectory` | [`tier4_planning_msgs/msg/Trajectory`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_planning_msgs/msg/Trajectory.msg) | | +| `/autoware/state` | [`autoware_system_msgs/msg/AutowareState`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_system_msgs/msg/AutowareState.msg) | Used in UserDefinedValueCondition `currentAutowareState` | | `/control/command/control_cmd` | [`autoware_control_msgs/msg/Control`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_control_msgs/msg/Control.msg) | | | `/control/command/gear_cmd` | [`autoware_vehicle_msgs/msg/GearCommand`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/GearCommand.msg) | | -| `/control/command/turn_indicators_cmd` | [`autoware_vehicle_msgs/msg/TurnIndicatorsCommand`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/TurnIndicatorsCommand.msg) | Used in UserDefinedValueCondition : `currentTurnIndicatorsState` | +| `/control/command/turn_indicators_cmd` | [`autoware_vehicle_msgs/msg/TurnIndicatorsCommand`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/TurnIndicatorsCommand.msg) | Used in UserDefinedValueCondition `currentTurnIndicatorsState` | | `/parameter_events` | [`rcl_interfaces/msg/ParameterEvent`](https://github.com/ros2/rcl_interfaces/blob/master/rcl_interfaces/msg/ParameterEvent.msg) | | | `/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id` | [`tier4_planning_msgs/msg/PathWithLaneId`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_planning_msgs/msg/PathWithLaneId.msg) | | -| `/api/iv_msgs/planning/scenario_planning/trajectory` | [`tier4_planning_msgs/msg/Trajectory`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_planning_msgs/msg/Trajectory.msg) | | -| `/api/external/get/emergency` | [`tier4_external_api_msgs/msg/Emergency`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_external_api_msgs/msg/Emergency.msg) | Used in UserDefinedValueCondition : `currentEmergencyState` | -| `/api/fail_safe/mrm_state` | [`autoware_adapi_v1_msgs/msg/MrmState`](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/system/msg/MrmState.msg) | Used in UserDefinedValueCondition : `currentMinimumRiskManeuverState` | -| `/planning/scenario_planning/motion_velocity_optimizer/closest_jerk` | [`tier4_debug_msgs/msg/Float32Stamped`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_debug_msgs/msg/Float32Stamped.msg) | Used in /simulation/openscenario_interpreter | -| `/api/external/get/rtc_status` | [`tier4_rtc_msgs::msg::CooperateStatusArray`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/msg/CooperateStatusArray.msg) | | +| `/planning/scenario_planning/motion_velocity_optimizer/closest_jerk` | [`tier4_debug_msgs/msg/Float32Stamped`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_debug_msgs/msg/Float32Stamped.msg) | Used in `/simulation/openscenario_interpreter` | ### Publishers -| topic | type | note | -|------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| `/clock` | [`rcl_interfaces/msg/Clock`](https://github.com/ros2/rcl_interfaces/blob/master/rosgraph_msgs/msg/Clock.msg) | | | | -| `/initialpose` | [`geometry_msgs/msg/PoseWithCovarianceStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseWithCovarianceStamped.msg) | | -| `/localization/kinematic_state` | [`nav_msgs/msg/Odometry`](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/Odometry.msg) | | -| `/localization/acceleration` | [`geometry_msgs::msg::AccelWithCovarianceStamped`](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | | -| `/planning/mission_planning/checkpoint` | [`geometry_msgs/msg/PoseStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseStamped.msg) | | -| `/planning/mission_planning/goal` | [`geometry_msgs/msg/PoseStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseStamped.msg) | | -| `/vehicle/status/control_mode` | [`autoware_vehicle_msgs/msg/ControlModeReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/ControlModeReport.msg) | | -| `/vehicle/status/gear_status` | [`autoware_vehicle_msgs/msg/GearReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/GearReport.msg) | | -| `/vehicle/status/steering_status` | [`autoware_vehicle_msgs/msg/SteeringReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/SteeringReport.msg) | | -| `/vehicle/status/turn_indicators_status` | [`autoware_vehicle_msgs/msg/TurnIndicatorsReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/TurnIndicatorsReport.msg) | | -| `/vehicle/status/velocity_status` | [`autoware_vehicle_msgs/msg/VelocityReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/VelocityReport.msg) | | -| `/perception/object_recognition/detection/objects` | [`autoware_perception_msgs/msg/DetectedObjects`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/DetectedObjects.msg) | [Simulated by simple_sensor_simulator](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#object-detection-results-simulation) | -| `/perception/object_recognition/ground_truth/objects` | [`autoware_perception_msgs/msg/TrackedObjects`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrackedObjects.msg) | [Simulated by simple_sensor_simulator](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#object-detection-results-simulation) | -| `/perception/obstacle_segmentation/pointcloud` | [`sensor_msgs/msg/PointCloud2`](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg) | [Simulated by simple_sensor_simulator](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#lidar-simulation) | -| `/perception/occupancy_grid_map/map` | [`nav_msgs/msg/OccupancyGrid`](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/OccupancyGrid.msg) | [Simulated by simple_sensor_simulator](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#occupancy-grid-sensor-simulation) | -| `/sensing/imu/imu_data` | [`sensor_msgs/msg/Imu`](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Imu.msg) | | -| `/perception/traffic_light_recognition/internal/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | Optical traffic light interface for `architecture_type` equal to `awf/universe/20230906` | -| `/perception/traffic_light_recognition/internal/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | Optical traffic light interface for `architecture_type` equal to `awf/universe/20240605` | -| `/perception/traffic_light_recognition/external/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | V2I traffic light interface for `architecture_type` equal to `awf/universe/20230906` | -| `/perception/traffic_light_recognition/external/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | V2I traffic light interface for `architecture_type` equal to `awf/universe/20240605` | -| `/v2x/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | Additional V2I traffic light interface for `architecture_type` equal to `awf/universe/20230906` | -| `/v2x/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | Additional V2I traffic light interface for `architecture_type` equal to `awf/universe/20240605` | - -[//]: # (| /rosout | rcl_interfaces/msg/Log | | |) -[//]: # (| /tf | tf2_msgs/msg/TFMessage | | |) -[//]: # (| /parameter_events | rcl_interfaces/msg/ParameterEvent | | |) +| topic | type | note | +|------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------| +| `/clock` | [`rcl_interfaces/msg/Clock`](https://github.com/ros2/rcl_interfaces/blob/master/rosgraph_msgs/msg/Clock.msg) | | | | +| `/initialpose` | [`geometry_msgs/msg/PoseWithCovarianceStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseWithCovarianceStamped.msg) | | +| `/localization/acceleration` | [`geometry_msgs/msg/AccelWithCovarianceStamped`](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | Available if option `simulate_localization` is `true` (default is `true`). | +| `/localization/kinematic_state` | [`nav_msgs/msg/Odometry`](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/Odometry.msg) | Available if option `simulate_localization` is `true` (default is `true`). | +| `/localization/pose_estimator/pose_with_covariance` | [`geometry_msgs/msg/PoseWithCovarianceStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseWithCovarianceStamped.msg) | Available if option `simulate_localization` is `false` (default is `true`). | +| `/perception/object_recognition/detection/objects` | [`autoware_perception_msgs/msg/DetectedObjects`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/DetectedObjects.msg) | [Simulated by `simple_sensor_simulator`](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#object-detection-results-simulation) | +| `/perception/object_recognition/ground_truth/objects` | [`autoware_perception_msgs/msg/TrackedObjects`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrackedObjects.msg) | [Simulated by `simple_sensor_simulator`](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#object-detection-results-simulation) | +| `/perception/obstacle_segmentation/pointcloud` | [`sensor_msgs/msg/PointCloud2`](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg) | [Simulated by `simple_sensor_simulator`](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#lidar-simulation) | +| `/perception/occupancy_grid_map/map` | [`nav_msgs/msg/OccupancyGrid`](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/OccupancyGrid.msg) | [Simulated by `simple_sensor_simulator`](https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/SimpleSensorSimulator/#occupancy-grid-sensor-simulation) | +| `/perception/traffic_light_recognition/external/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | V2I traffic light interface for `architecture_type` equal to `awf/universe/20240605` | +| `/perception/traffic_light_recognition/external/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | V2I traffic light interface for `architecture_type` equal to `awf/universe/20230906` | +| `/perception/traffic_light_recognition/internal/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | Optical traffic light interface for `architecture_type` equal to `awf/universe/20240605` | +| `/perception/traffic_light_recognition/internal/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | Optical traffic light interface for `architecture_type` equal to `awf/universe/20230906` | +| `/planning/mission_planning/checkpoint` | [`geometry_msgs/msg/PoseStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseStamped.msg) | | +| `/planning/mission_planning/goal` | [`geometry_msgs/msg/PoseStamped`](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/PoseStamped.msg) | | +| `/sensing/imu/imu_data` | [`sensor_msgs/msg/Imu`](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Imu.msg) | | +| `/v2x/traffic_signals` | [`autoware_perception_msgs/msg/TrafficLightGroupArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | Additional V2I traffic light interface for `architecture_type` equal to `awf/universe/20240605` | +| `/v2x/traffic_signals` | [`autoware_perception_msgs/msg/TrafficSignalArray`](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | Additional V2I traffic light interface for `architecture_type` equal to `awf/universe/20230906` | +| `/vehicle/status/control_mode` | [`autoware_vehicle_msgs/msg/ControlModeReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/ControlModeReport.msg) | | +| `/vehicle/status/gear_status` | [`autoware_vehicle_msgs/msg/GearReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/GearReport.msg) | | +| `/vehicle/status/steering_status` | [`autoware_vehicle_msgs/msg/SteeringReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/SteeringReport.msg) | | +| `/vehicle/status/turn_indicators_status` | [`autoware_vehicle_msgs/msg/TurnIndicatorsReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/TurnIndicatorsReport.msg) | | +| `/vehicle/status/velocity_status` | [`autoware_vehicle_msgs/msg/VelocityReport`](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_vehicle_msgs/msg/VelocityReport.msg) | | ### Service Clients @@ -54,8 +51,8 @@ |-----------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------| | `/api/autoware/set/velocity_limit` | [`tier4_external_api_msgs/srv/SetVelocityLimit`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_external_api_msgs/srv/SetVelocityLimit.srv) | | | `/api/external/set/engage` | [`tier4_external_api_msgs/srv/Engage`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_external_api_msgs/srv/Engage.srv) | | -| `/api/external/set/rtc_commands` | [`tier4_rtc_msgs/srv/CooperateCommands`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/srv/CooperateCommands.srv) | | | `/api/external/set/rtc_auto_mode` | [`tier4_rtc_msgs/srv/AutoModeWithModule`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/srv/AutoModeWithModule.srv) | | +| `/api/external/set/rtc_commands` | [`tier4_rtc_msgs/srv/CooperateCommands`](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_rtc_msgs/srv/CooperateCommands.srv) | | | `/api/operation_mode/enable_autoware_control` | [`autoware_adapi_v1_msgs/srv/ChangeOperationMode`](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/operation_mode/srv/ChangeOperationMode.srv) | | ### Service Servers @@ -63,15 +60,3 @@ | service name | type | note | |---------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------| | `/control/control_mode_request` | [`autoware_auto_vehicle_msgs/srv/ControlModeCommand`](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/srv/ControlModeCommand.srv) | Simulated by `simple_sensor_simulator` for a manual override | - -[//]: # (/simulation/openscenario_visualizer) - -[//]: # (Subscribers:) - -[//]: # (/simulation/entity/status: traffic_simulator_msgs/msg/EntityStatusWithTrajectoryArray) - -[//]: # (Publishers:) - -[//]: # (/simulation/entity/marker: visualization_msgs/msg/MarkerArray) - -[//]: # () diff --git a/docs/developer_guide/OpenSCENARIOSupport.md b/docs/developer_guide/OpenSCENARIOSupport.md index 2f64a14c51c..d8821dd97da 100644 --- a/docs/developer_guide/OpenSCENARIOSupport.md +++ b/docs/developer_guide/OpenSCENARIOSupport.md @@ -486,8 +486,8 @@ Currently, the only way to know the result of the simulation is by viewing the s | TimeOfDay | 1.3 | | | TimeOfDayCondition | unimplemented | | | TimeReference | 1.3 | | -| TimeToCollisionCondition | unimplemented | | -| TimeToCollisionConditionTarget | unimplemented | | +| TimeToCollisionCondition | 1.3.1 (partial) | [detail](#TimeToCollisionCondition) | +| TimeToCollisionConditionTarget | 1.3.1 | | | Timing | 1.3 | | | TrafficAction | unimplemented | | | TrafficArea | unimplemented | | @@ -848,6 +848,13 @@ Currently, the only way to know the result of the simulation is by viewing the s - Property `freespace` is ignored. - The simulator behaves as if `freespace` is `false`. +#### TimeToCollisionCondition + +- Since `TimeToCollisionCondition` is implemented using `DistanceCondition`, + `RelativeDistanceCondition`, `SpeedCondition`, and `RelativeSpeedCondition`, + if a combination of properties that is not supported by those Conditions is + given to `TimeToCollisionCondition`, an error will be thrown. + #### TransitionDynamics - Property `followingMode` created in version 1.2 is ignored. diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst index c9ec6fde662..bab0b1415f0 100644 --- a/external/concealer/CHANGELOG.rst +++ b/external/concealer/CHANGELOG.rst @@ -21,6 +21,99 @@ Changelog for package concealer * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge pull request `#1484 `_ from tier4/RJD-736/autoware_msgs_support_and_localization_sim_mode_support + Rjd 736/autoware msgs support and localization sim mode support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Add the missing semicolon +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Add launch argument `simulate_localization` to `scenario_test_runner` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge pull request `#1465 `_ from tier4/fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* fix(concealer): increase max time to request enable autoware control +* Contributors: Kotaro Yoshimoto, satoshi-ota + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/external/concealer/include/concealer/autoware_universe.hpp b/external/concealer/include/concealer/autoware_universe.hpp index d1b4a7bcc8d..0692c7717c0 100644 --- a/external/concealer/include/concealer/autoware_universe.hpp +++ b/external/concealer/include/concealer/autoware_universe.hpp @@ -45,6 +45,7 @@ class AutowareUniverse : public Autoware using GearCommand = autoware_vehicle_msgs::msg::GearCommand; using GearReport = autoware_vehicle_msgs::msg::GearReport; using PathWithLaneId = tier4_planning_msgs::msg::PathWithLaneId; + using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; using SteeringReport = autoware_vehicle_msgs::msg::SteeringReport; using TurnIndicatorsCommand = autoware_vehicle_msgs::msg::TurnIndicatorsCommand; using TurnIndicatorsReport = autoware_vehicle_msgs::msg::TurnIndicatorsReport; @@ -57,6 +58,7 @@ class AutowareUniverse : public Autoware PublisherWrapper setAcceleration; PublisherWrapper setOdometry; + PublisherWrapper setPose; PublisherWrapper setSteeringReport; PublisherWrapper setGearReport; PublisherWrapper setControlModeReport; @@ -83,7 +85,7 @@ class AutowareUniverse : public Autoware auto stopAndJoin() -> void; public: - CONCEALER_PUBLIC explicit AutowareUniverse(); + CONCEALER_PUBLIC explicit AutowareUniverse(bool); ~AutowareUniverse(); diff --git a/external/concealer/package.xml b/external/concealer/package.xml index a5971def2e4..6cd22af85cf 100644 --- a/external/concealer/package.xml +++ b/external/concealer/package.xml @@ -2,7 +2,7 @@ concealer - 7.0.2 + 7.3.1 Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator. Tatsuya Yamasaki Apache License 2.0 diff --git a/external/concealer/src/autoware_universe.cpp b/external/concealer/src/autoware_universe.cpp index 02aea619014..da3d240d571 100644 --- a/external/concealer/src/autoware_universe.cpp +++ b/external/concealer/src/autoware_universe.cpp @@ -16,15 +16,25 @@ namespace concealer { -AutowareUniverse::AutowareUniverse() +AutowareUniverse::AutowareUniverse(bool simulate_localization) : getCommand("/control/command/control_cmd", rclcpp::QoS(1), *this), getGearCommandImpl("/control/command/gear_cmd", rclcpp::QoS(1), *this), getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this), getPathWithLaneId( "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this), - setAcceleration("/localization/acceleration", *this), - setOdometry("/localization/kinematic_state", *this), + setAcceleration( + simulate_localization ? "/localization/acceleration" + : "/simulation/debug/localization/acceleration", + *this), + setOdometry( + simulate_localization ? "/localization/kinematic_state" + : "/simulation/debug/localization/kinematic_state", + *this), + setPose( + simulate_localization ? "/simulation/debug/localization/pose_estimator/pose_with_covariance" + : "/localization/pose_estimator/pose_with_covariance", + *this), setSteeringReport("/vehicle/status/steering_status", *this), setGearReport("/vehicle/status/gear_status", *this), setControlModeReport("/vehicle/status/control_mode", *this), @@ -121,6 +131,21 @@ auto AutowareUniverse::updateLocalization() -> void return message; }()); + setPose([this]() { + // See https://github.com/tier4/autoware.universe/blob/45ab20af979c5663e5a8d4dda787b1dea8d6e55b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp#L785-L803 + geometry_msgs::msg::PoseWithCovarianceStamped message; + message.header.stamp = get_clock()->now(); + message.header.frame_id = "map"; + message.pose.pose = current_pose.load(); + message.pose.covariance.at(6 * 0 + 0) = 0.0225; // XYZRPY_COV_IDX::X_X + message.pose.covariance.at(6 * 1 + 1) = 0.0225; // XYZRPY_COV_IDX::Y_Y + message.pose.covariance.at(6 * 2 + 2) = 0.0225; // XYZRPY_COV_IDX::Z_Z + message.pose.covariance.at(6 * 3 + 3) = 0.000625; // XYZRPY_COV_IDX::ROLL_ROLL + message.pose.covariance.at(6 * 4 + 4) = 0.000625; // XYZRPY_COV_IDX::PITCH_PITCH + message.pose.covariance.at(6 * 5 + 5) = 0.000625; // XYZRPY_COV_IDX::YAW_YAW + return message; + }()); + setTransform(current_pose.load()); } diff --git a/external/concealer/src/field_operator_application_for_autoware_universe.cpp b/external/concealer/src/field_operator_application_for_autoware_universe.cpp index e75ff70ab01..b3438d35a89 100644 --- a/external/concealer/src/field_operator_application_for_autoware_universe.cpp +++ b/external/concealer/src/field_operator_application_for_autoware_universe.cpp @@ -475,7 +475,7 @@ auto FieldOperatorApplicationFor::enableAutowareControl() -> v { task_queue.delay([this]() { auto request = std::make_shared(); - requestEnableAutowareControl(request); + requestEnableAutowareControl(request, 30); }); } diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst index 6661d8bf53c..8b344fe8499 100644 --- a/external/embree_vendor/CHANGELOG.rst +++ b/external/embree_vendor/CHANGELOG.rst @@ -24,6 +24,93 @@ Changelog for package embree_vendor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml index 8acfa0e4a14..bfb9482383b 100644 --- a/external/embree_vendor/package.xml +++ b/external/embree_vendor/package.xml @@ -2,7 +2,7 @@ embree_vendor - 7.0.2 + 7.3.1 vendor packages for intel raytracing kernel library masaya Apache 2.0 diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst index db775da252e..e74373a3a54 100644 --- a/map/kashiwanoha_map/CHANGELOG.rst +++ b/map/kashiwanoha_map/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package kashiwanoha_map * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml index 540a6e44ea6..3c2e685b8fc 100644 --- a/map/kashiwanoha_map/package.xml +++ b/map/kashiwanoha_map/package.xml @@ -2,7 +2,7 @@ kashiwanoha_map - 7.0.2 + 7.3.1 map package for kashiwanoha Masaya Kataoka Apache License 2.0 diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst index 9114c7740ce..58ccabeafe4 100644 --- a/map/simple_cross_map/CHANGELOG.rst +++ b/map/simple_cross_map/CHANGELOG.rst @@ -9,6 +9,89 @@ Changelog for package simple_cross_map * Merge branch 'master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml index 0303b2c1d0e..7415c963183 100644 --- a/map/simple_cross_map/package.xml +++ b/map/simple_cross_map/package.xml @@ -2,7 +2,7 @@ simple_cross_map - 7.0.2 + 7.3.1 map package for simple cross Masaya Kataoka Apache License 2.0 diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst index f493b68bfa7..5d225ae6f2d 100644 --- a/mock/cpp_mock_scenarios/CHANGELOG.rst +++ b/mock/cpp_mock_scenarios/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package cpp_mock_scenarios * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml index 175546f8e77..1a6f1febf9d 100644 --- a/mock/cpp_mock_scenarios/package.xml +++ b/mock/cpp_mock_scenarios/package.xml @@ -2,7 +2,7 @@ cpp_mock_scenarios - 7.0.2 + 7.3.1 C++ mock scenarios masaya Apache License 2.0 diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst index 4d0dcabb2da..c3dca724a92 100644 --- a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst +++ b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package openscenario_experimental_catalog * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml index 31f6f183bb3..91901f76fdb 100644 --- a/openscenario/openscenario_experimental_catalog/package.xml +++ b/openscenario/openscenario_experimental_catalog/package.xml @@ -2,7 +2,7 @@ openscenario_experimental_catalog - 7.0.2 + 7.3.1 TIER IV experimental catalogs for OpenSCENARIO Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst index 813f25e053e..599614b1734 100644 --- a/openscenario/openscenario_interpreter/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter/CHANGELOG.rst @@ -32,6 +32,124 @@ Changelog for package openscenario_interpreter * add publish_empty_context parameter * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge pull request `#1258 `_ from tier4/feature/time-to-collision-condition + Feature/time to collision condition +* Update `TimeToCollisionCondition` to call `SpeedCondition` in standard compatible mode +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Remove static member function `evaluateTimeToCollisionCondition` +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Cleanup +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Fix `evaluateTimeToCollisionCondition` to not return meaningless value when collisions cannot occur +* Fix `TimeToCollisionCondition` to return inf if relative speed < zero +* Cleanup static member function `TimeToCollisionCondition::evaluate` +* Add new member function `evaluateCartesianTimeToCollisionCondition` +* Split `(Relative)?DistanceCondition::evaluate` into two overloads +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Add new static member function `TimeToCollisionCondition::evaluate` +* Update `unordered_map` of the `Entities` base class to private +* Move function `hypot` into new header `cmath/hypot.hpp` +* Add support for `DirectionalDimension` to `SpeedCondition` +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Rename `(Relative)?DistanceCondition::distance` to `evaluate` +* Update member function `CoordinateSystem::distance` to be static member +* Add `const Position &` to the argument of `DistanceCondition::distance` +* Remove data member `DistanceCondition::consider_z` +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Add new static member function `RelativeSpeedCondition::evaluate` +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Update `RelativeDistanceCondition::distance` to static member function +* Move entity existence check into `distance` from speceialized `distance` +* Add static member function `ConditionEvaluation::evaluateRelativeSpeed` +* Add new structs `RelativeSpeedCondition` and `DirectionalDimension` +* Add new struct `TimeToCollisionConditionTarget` +* Add new struct `TimeToCollisionCondition` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge pull request `#1486 `_ from tier4/fix/speed-condition/backward-compatibility + Fix/speed condition/backward compatibility +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Add new parameter `speed_condition` to switch compatibility +* Add new enumeration `Compatibility` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/openscenario/openscenario_interpreter/CMakeLists.txt b/openscenario/openscenario_interpreter/CMakeLists.txt index 72ac634e062..a1d95ea6350 100644 --- a/openscenario/openscenario_interpreter/CMakeLists.txt +++ b/openscenario/openscenario_interpreter/CMakeLists.txt @@ -59,8 +59,9 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_POSIX_SOURCES} ${${PROJECT_NAME}_SYNTAX_SOURCES} ${${PROJECT_NAME}_UTILITY_SOURCES} - src/object.cpp + src/compatibility.cpp src/evaluate.cpp + src/object.cpp src/openscenario_interpreter.cpp src/record.cpp src/scope.cpp) diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/compatibility.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/compatibility.hpp new file mode 100644 index 00000000000..683ba6f2377 --- /dev/null +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/compatibility.hpp @@ -0,0 +1,30 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef OPENSCENARIO_INTERPRETER__COMPATIBILITY_HPP_ +#define OPENSCENARIO_INTERPRETER__COMPATIBILITY_HPP_ + +#include + +namespace openscenario_interpreter +{ +enum class Compatibility { + legacy, + standard, +}; + +auto operator>>(std::istream &, Compatibility &) -> std::istream &; +} // namespace openscenario_interpreter + +#endif // OPENSCENARIO_INTERPRETER__COMPATIBILITY_HPP_ diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp index c665a97c913..5252176abfc 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp @@ -562,15 +562,9 @@ class SimulatorCore if (const auto observer = core->getEntity(from.name())) { if (const auto observed = core->getEntity(to.name())) { auto velocity = [](const auto & entity) -> Eigen::Vector3d { - auto direction = [](auto orientation) -> Eigen::Vector3d { - const auto euler_angle = math::geometry::convertQuaternionToEulerAngle(orientation); - const auto r = euler_angle.x; - const auto p = euler_angle.y; - const auto y = euler_angle.z; - return Eigen::Vector3d( - std::cos(y) * std::cos(p), std::sin(y) * std::cos(p), std::sin(p)); + auto direction = [](const auto & q) -> Eigen::Vector3d { + return Eigen::Quaternion(q.w, q.x, q.y, q.z) * Eigen::Vector3d::UnitX(); }; - return direction(entity->getMapPose().orientation) * entity->getCurrentTwist().linear.x; }; diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_speed_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_speed_condition.hpp index e88e351fae1..c79bfdf34ff 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_speed_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/relative_speed_condition.hpp @@ -26,7 +26,7 @@ namespace openscenario_interpreter inline namespace syntax { /* - RelativeSpeedCondition 1.3.1 + RelativeSpeedCondition (OpenSCENARIO XML 1.3.1) The current relative speed of a triggering entity/entities to a reference entity is compared to a given value. The logical operator used for the diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/speed_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/speed_condition.hpp index 9c2bf1ffb92..f64c7499051 100644 --- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/speed_condition.hpp +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/speed_condition.hpp @@ -15,6 +15,7 @@ #ifndef OPENSCENARIO_INTERPRETER__SYNTAX__SPEED_CONDITION_HPP_ #define OPENSCENARIO_INTERPRETER__SYNTAX__SPEED_CONDITION_HPP_ +#include #include #include #include @@ -63,6 +64,8 @@ struct SpeedCondition : private Scope, private SimulatorCore::ConditionEvaluatio std::vector> results; // for description + static inline auto compatibility = Compatibility::legacy; + explicit SpeedCondition(const pugi::xml_node &, Scope &, const TriggeringEntities &); auto description() const -> String; @@ -70,7 +73,8 @@ struct SpeedCondition : private Scope, private SimulatorCore::ConditionEvaluatio static auto evaluate(const Entities *, const Entity &) -> Eigen::Vector3d; static auto evaluate( - const Entities *, const Entity &, const std::optional &) -> double; + const Entities *, const Entity &, const std::optional &, + const Compatibility = Compatibility::legacy) -> double; auto evaluate() -> Object; }; diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition.hpp new file mode 100644 index 00000000000..3dc68ba3cd9 --- /dev/null +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition.hpp @@ -0,0 +1,186 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__TIME_TO_COLLISION_CONDITION_HPP_ +#define OPENSCENARIO_INTERPRETER__SYNTAX__TIME_TO_COLLISION_CONDITION_HPP_ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace openscenario_interpreter +{ +inline namespace syntax +{ +/* + TimeToCollisionCondition (OpenSCENARIO XML 1.3.1) + + The currently predicted time to collision of a triggering entity/entities + and either a reference entity or an explicit position is compared to a given + time value. Time to collision is calculated as the distance divided by the + relative speed. Acceleration of entities is not taken into consideration. + For the relative speed calculation the same coordinate system and relative + distance type applies as for the distance calculation. If the relative speed + is negative, which means the entity is moving away from the position / the + entities are moving away from each other, then the time to collision cannot + be predicted and the condition evaluates to false. The logical operator for + comparison is defined by the rule attribute. The property "alongRoute" is + deprecated. If "coordinateSystem" or "relativeDistanceType" are set, + "alongRoute" is ignored. + + + + + + + + + deprecated + + + + + + + + + + +*/ +struct TimeToCollisionCondition : private Scope, private SimulatorCore::ConditionEvaluation +{ + const TimeToCollisionConditionTarget time_to_collision_condition_target; + + const Boolean freespace; + + const Rule rule; + + const Double value; + + const RelativeDistanceType relative_distance_type; + + const CoordinateSystem coordinate_system; + + const RoutingAlgorithm routing_algorithm; + + const TriggeringEntities triggering_entities; + + std::vector> evaluations; + + explicit TimeToCollisionCondition( + const pugi::xml_node & node, Scope & scope, const TriggeringEntities & triggering_entities) + : Scope(scope), + time_to_collision_condition_target( + readElement("TimeToCollisionConditionTarget", node, scope)), + freespace(readAttribute("freespace", node, scope)), + rule(readAttribute("rule", node, scope)), + value(readAttribute("value", node, scope)), + relative_distance_type( + readAttribute("relativeDistanceType", node, scope)), + coordinate_system( + readAttribute("coordinateSystem", node, scope, CoordinateSystem::entity)), + routing_algorithm(readAttribute( + "routingAlgorithm", node, scope, RoutingAlgorithm::undefined)), + triggering_entities(triggering_entities), + evaluations(triggering_entities.entity_refs.size(), {Double::nan()}) + { + } + + auto description() const + { + auto description = std::stringstream(); + + description << triggering_entities.description() << "'s time-to-collision to given "; + + if (time_to_collision_condition_target.is()) { + description << " entity " << time_to_collision_condition_target.as(); + } else { + description << " position"; + } + + description << " = "; + + print_to(description, evaluations); + + description << " " << rule << " " << value << "?"; + + return description.str(); + } + + static auto evaluate( + const Entities * entities, const Entity & triggering_entity, + const TimeToCollisionConditionTarget & time_to_collision_condition_target, + CoordinateSystem coordinate_system, RelativeDistanceType relative_distance_type, + RoutingAlgorithm routing_algorithm, Boolean freespace) + { + auto distance = [&]() { + if (time_to_collision_condition_target.is()) { + return RelativeDistanceCondition::evaluate( + entities, triggering_entity, time_to_collision_condition_target.as(), + coordinate_system, relative_distance_type, routing_algorithm, freespace); + } else { + return DistanceCondition::evaluate( + entities, triggering_entity, time_to_collision_condition_target.as(), + coordinate_system, relative_distance_type, routing_algorithm, freespace); + } + }; + + auto speed = [&]() { + auto directional_dimension = [&]() { + switch (relative_distance_type) { + case RelativeDistanceType::longitudinal: + return std::optional(DirectionalDimension::longitudinal); + case RelativeDistanceType::lateral: + return std::optional(DirectionalDimension::lateral); + default: + case RelativeDistanceType::euclidianDistance: + return std::optional(std::nullopt); + }; + }; + if (time_to_collision_condition_target.is()) { + return RelativeSpeedCondition::evaluate( + entities, triggering_entity, time_to_collision_condition_target.as(), + directional_dimension()); + } else { + return SpeedCondition::evaluate( + entities, triggering_entity, directional_dimension(), Compatibility::standard); + } + }; + + return distance() / std::max(speed(), 0.0); + } + + auto evaluate() + { + evaluations.clear(); + + return asBoolean(triggering_entities.apply([this](const auto & triggering_entity) { + evaluations.push_back(triggering_entity.apply([this](const auto & triggering_entity) { + return evaluate( + global().entities, triggering_entity, time_to_collision_condition_target, + coordinate_system, relative_distance_type, routing_algorithm, freespace); + })); + return not evaluations.back().size() or std::invoke(rule, evaluations.back(), value).min(); + })); + } +}; +} // namespace syntax +} // namespace openscenario_interpreter + +#endif // OPENSCENARIO_INTERPRETER__SYNTAX__TIME_TO_COLLISION_CONDITION_HPP_ diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition_target.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition_target.hpp new file mode 100644 index 00000000000..8e15f1f6f3c --- /dev/null +++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition_target.hpp @@ -0,0 +1,45 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__TIME_TO_COLLISION_CONDITION_TARGET_HPP_ +#define OPENSCENARIO_INTERPRETER__SYNTAX__TIME_TO_COLLISION_CONDITION_TARGET_HPP_ + +#include +#include + +namespace openscenario_interpreter +{ +inline namespace syntax +{ +/* + TimeToCollisionConditionTarget (OpenSCENARIO XML 1.3.1) + + Target position used in the TimeToCollisionCondition. Can be defined as + either an explicit position, or the position of a reference entity. + + + + + + + +*/ +struct TimeToCollisionConditionTarget : public ComplexType +{ + explicit TimeToCollisionConditionTarget(const pugi::xml_node &, Scope &); +}; +} // namespace syntax +} // namespace openscenario_interpreter + +#endif // OPENSCENARIO_INTERPRETER__SYNTAX__TIME_TO_COLLISION_CONDITION_TARGET_HPP_ diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml index c7d497d8741..dbd79ed73ed 100644 --- a/openscenario/openscenario_interpreter/package.xml +++ b/openscenario/openscenario_interpreter/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter - 7.0.2 + 7.3.1 OpenSCENARIO 1.2.0 interpreter package for Autoware Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter/src/compatibility.cpp b/openscenario/openscenario_interpreter/src/compatibility.cpp new file mode 100644 index 00000000000..617a5bcc08b --- /dev/null +++ b/openscenario/openscenario_interpreter/src/compatibility.cpp @@ -0,0 +1,38 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +namespace openscenario_interpreter +{ +auto operator>>(std::istream & input, Compatibility & compatiblity) -> std::istream & +{ + if (auto token = std::string(); input >> token) { + if (token == "legacy") { + compatiblity = Compatibility::legacy; + return input; + } else if (token == "standard") { + compatiblity = Compatibility::standard; + return input; + } else { + throw Error( + "Unknown compatiblity ", std::quoted(token), + " was specified. It must be \"legacy\" or \"standard\"."); + } + } else { + compatiblity = Compatibility::legacy; + return input; + } +} +} // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp index d2f7c910cc0..824c83280f3 100644 --- a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp +++ b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp @@ -22,6 +22,7 @@ #include #include #include +#include #include #include #include @@ -49,6 +50,10 @@ Interpreter::Interpreter(const rclcpp::NodeOptions & options) DECLARE_PARAMETER(output_directory); DECLARE_PARAMETER(publish_empty_context); DECLARE_PARAMETER(record); + + declare_parameter("speed_condition", "legacy"); + SpeedCondition::compatibility = + boost::lexical_cast(get_parameter("speed_condition").as_string()); } Interpreter::~Interpreter() {} diff --git a/openscenario/openscenario_interpreter/src/syntax/entity_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/entity_condition.cpp index 911b17c12de..554c5259963 100644 --- a/openscenario/openscenario_interpreter/src/syntax/entity_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/entity_condition.cpp @@ -24,6 +24,7 @@ #include #include #include +#include namespace openscenario_interpreter { @@ -38,7 +39,7 @@ EntityCondition::EntityCondition( std::make_pair( "CollisionCondition", [&](const auto & node) { return make< CollisionCondition>(node, scope, triggering_entities); }), std::make_pair( "OffroadCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), std::make_pair( "TimeHeadwayCondition", [&](const auto & node) { return make< TimeHeadwayCondition>(node, scope, triggering_entities); }), - std::make_pair( "TimeToCollisionCondition", [&](const auto & node) { throw UNSUPPORTED_ELEMENT_SPECIFIED(node.name()); return unspecified; }), + std::make_pair( "TimeToCollisionCondition", [&](const auto & node) { return make< TimeToCollisionCondition>(node, scope, triggering_entities); }), std::make_pair( "AccelerationCondition", [&](const auto & node) { return make< AccelerationCondition>(node, scope, triggering_entities); }), std::make_pair( "StandStillCondition", [&](const auto & node) { return make< StandStillCondition>(node, scope, triggering_entities); }), std::make_pair( "SpeedCondition", [&](const auto & node) { return make< SpeedCondition>(node, scope, triggering_entities); }), diff --git a/openscenario/openscenario_interpreter/src/syntax/speed_condition.cpp b/openscenario/openscenario_interpreter/src/syntax/speed_condition.cpp index cc8d64b0c41..5e2f8e34038 100644 --- a/openscenario/openscenario_interpreter/src/syntax/speed_condition.cpp +++ b/openscenario/openscenario_interpreter/src/syntax/speed_condition.cpp @@ -58,7 +58,8 @@ auto SpeedCondition::evaluate(const Entities * entities, const Entity & triggeri auto SpeedCondition::evaluate( const Entities * entities, const Entity & triggering_entity, - const std::optional & direction) -> double + const std::optional & direction, const Compatibility compatibility) + -> double { if (const Eigen::Vector3d v = evaluate(entities, triggering_entity); direction) { switch (*direction) { @@ -71,7 +72,13 @@ auto SpeedCondition::evaluate( return v.z(); } } else { - return v.norm(); + switch (compatibility) { + default: + case Compatibility::legacy: + return v.x(); + case Compatibility::standard: + return v.norm(); + } } } @@ -81,7 +88,7 @@ auto SpeedCondition::evaluate() -> Object return asBoolean(triggering_entities.apply([&](const auto & triggering_entity) { results.push_back(triggering_entity.apply([&](const auto & triggering_entity) { - return evaluate(global().entities, triggering_entity, direction); + return evaluate(global().entities, triggering_entity, direction, compatibility); })); return not results.back().size() or std::invoke(rule, results.back(), value).min(); })); diff --git a/openscenario/openscenario_interpreter/src/syntax/time_to_collision_condition_target.cpp b/openscenario/openscenario_interpreter/src/syntax/time_to_collision_condition_target.cpp new file mode 100644 index 00000000000..829793c7a54 --- /dev/null +++ b/openscenario/openscenario_interpreter/src/syntax/time_to_collision_condition_target.cpp @@ -0,0 +1,38 @@ +// Copyright 2015 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include +#include +#include + +namespace openscenario_interpreter +{ +inline namespace syntax +{ +TimeToCollisionConditionTarget::TimeToCollisionConditionTarget( + const pugi::xml_node & node, Scope & scope) +// clang-format off +: ComplexType(choice(node, + std::make_pair( "Position", [&](auto && node) { return make(std::forward(node), scope); }), + std::make_pair("EntityRef", [&](auto && node) { return make< Entity>(std::forward(node), scope); }))) +// clang-format on +{ + if (is()) { + throw SyntaxError("EntitySelection is not allowed in TimeToCollisionConditionTarget.entityRef"); + } +} +} // namespace syntax +} // namespace openscenario_interpreter diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst index a600ece6a67..a7c23a1a33a 100644 --- a/openscenario/openscenario_interpreter_example/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_example/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package openscenario_interpreter_example * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml index 68ff65fc757..ac610e687ae 100644 --- a/openscenario/openscenario_interpreter_example/package.xml +++ b/openscenario/openscenario_interpreter_example/package.xml @@ -3,7 +3,7 @@ openscenario_interpreter_example - 7.0.2 + 7.3.1 Examples for some TIER IV OpenSCENARIO Interpreter's features Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst index 47881a2a88a..7c8b46ef5ee 100644 --- a/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_interpreter_msgs/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package openscenario_interpreter_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml index 057014f0ee9..9c410d95d75 100644 --- a/openscenario/openscenario_interpreter_msgs/package.xml +++ b/openscenario/openscenario_interpreter_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_interpreter_msgs - 7.0.2 + 7.3.1 ROS message types for package openscenario_interpreter Yamasaki Tatsuya Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor/CHANGELOG.rst b/openscenario/openscenario_preprocessor/CHANGELOG.rst index a1014e65fde..f4dcede6aa6 100644 --- a/openscenario/openscenario_preprocessor/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package openscenario_preprocessor * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/openscenario/openscenario_preprocessor/package.xml b/openscenario/openscenario_preprocessor/package.xml index 834978f29f0..3a3403bca59 100644 --- a/openscenario/openscenario_preprocessor/package.xml +++ b/openscenario/openscenario_preprocessor/package.xml @@ -3,7 +3,7 @@ openscenario_preprocessor - 7.0.2 + 7.3.1 Example package for TIER IV OpenSCENARIO Interpreter Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst index 1f31a52ab4f..aef6a7e7023 100644 --- a/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst +++ b/openscenario/openscenario_preprocessor_msgs/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package openscenario_preprocessor_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml index d94c408de3e..6b22f10b33b 100644 --- a/openscenario/openscenario_preprocessor_msgs/package.xml +++ b/openscenario/openscenario_preprocessor_msgs/package.xml @@ -2,7 +2,7 @@ openscenario_preprocessor_msgs - 7.0.2 + 7.3.1 ROS message types for package openscenario_preprocessor Kotaro Yoshimoto Apache License 2.0 diff --git a/openscenario/openscenario_utility/CHANGELOG.rst b/openscenario/openscenario_utility/CHANGELOG.rst index b7d93c751f1..88920e74917 100644 --- a/openscenario/openscenario_utility/CHANGELOG.rst +++ b/openscenario/openscenario_utility/CHANGELOG.rst @@ -24,6 +24,93 @@ Changelog for package openscenario_utility * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/openscenario/openscenario_utility/package.xml b/openscenario/openscenario_utility/package.xml index b4f51b923e4..8bf819d8461 100644 --- a/openscenario/openscenario_utility/package.xml +++ b/openscenario/openscenario_utility/package.xml @@ -2,7 +2,7 @@ openscenario_utility - 7.0.2 + 7.3.1 Utility tools for ASAM OpenSCENARIO 1.2.0 Tatsuya Yamasaki Apache License 2.0 diff --git a/openscenario/openscenario_validator/CHANGELOG.rst b/openscenario/openscenario_validator/CHANGELOG.rst index c58b60badaa..09de3672ce7 100644 --- a/openscenario/openscenario_validator/CHANGELOG.rst +++ b/openscenario/openscenario_validator/CHANGELOG.rst @@ -10,6 +10,93 @@ Changelog for package openscenario_validator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/openscenario/openscenario_validator/package.xml b/openscenario/openscenario_validator/package.xml index a5dda80e4f9..c049e91a549 100644 --- a/openscenario/openscenario_validator/package.xml +++ b/openscenario/openscenario_validator/package.xml @@ -2,7 +2,7 @@ openscenario_validator - 7.0.2 + 7.3.1 Validator for OpenSCENARIO 1.3 Kotaro Yoshimoto Apache License 2.0 diff --git a/rviz_plugins/openscenario_visualization/CHANGELOG.rst b/rviz_plugins/openscenario_visualization/CHANGELOG.rst index 608a87963bf..3ac5c9a8796 100644 --- a/rviz_plugins/openscenario_visualization/CHANGELOG.rst +++ b/rviz_plugins/openscenario_visualization/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package openscenario_visualization * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge pull request `#1470 `_ from tier4/fix/snor-cloud-issue-8-1 diff --git a/rviz_plugins/openscenario_visualization/package.xml b/rviz_plugins/openscenario_visualization/package.xml index 2c596393415..6ea002cc049 100644 --- a/rviz_plugins/openscenario_visualization/package.xml +++ b/rviz_plugins/openscenario_visualization/package.xml @@ -2,7 +2,7 @@ openscenario_visualization - 7.0.2 + 7.3.1 Visualization tools for simulation results Masaya Kataoka Kyoichi Sugahara diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst index 7bc21f4ad87..46162ecca6c 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package real_time_factor_control_rviz_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml index 8f0243c3744..d6e7a553626 100644 --- a/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml +++ b/rviz_plugins/real_time_factor_control_rviz_plugin/package.xml @@ -2,7 +2,7 @@ real_time_factor_control_rviz_plugin - 7.0.2 + 7.3.1 Slider controlling real time factor value. Paweł Lech Apache License 2.0 diff --git a/scenario_simulator_v2/CHANGELOG.rst b/scenario_simulator_v2/CHANGELOG.rst index 84fdea0f5e7..57e73b43af7 100644 --- a/scenario_simulator_v2/CHANGELOG.rst +++ b/scenario_simulator_v2/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package scenario_simulator_v2 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/scenario_simulator_v2/package.xml b/scenario_simulator_v2/package.xml index 35edc1a1a53..db7195b4768 100644 --- a/scenario_simulator_v2/package.xml +++ b/scenario_simulator_v2/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2 - 7.0.2 + 7.3.1 scenario testing framework for Autoware Masaya Kataoka Apache License 2.0 diff --git a/simulation/behavior_tree_plugin/CHANGELOG.rst b/simulation/behavior_tree_plugin/CHANGELOG.rst index 06d8350c0db..a8f95206656 100644 --- a/simulation/behavior_tree_plugin/CHANGELOG.rst +++ b/simulation/behavior_tree_plugin/CHANGELOG.rst @@ -21,6 +21,103 @@ Changelog for package behavior_tree_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge pull request `#1481 `_ from tier4/feature/multi-level-lanelet-support + Feature/multi level lanelet support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'feature/multi-level-lanelet-support' of https://github.com/tier4/scenario_simulator_v2 into feature/multi-level-lanelet-support +* ref(traffic_simulator, simple_sensor_simulator): refactor altitude checks +* Refactor code to improve readability based on SonarQube findings +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* [RJD-1369] Improve Collision Solving for Multi-Level Support + - Enhanced BehaviorTree to consider altitude when detecting potential obstacles, + allowing to ignore objects located at different altitudes. + - Modified the detection sensor by introducing Ego plane determination to exclude objects below the Ego plane, + preventing unnecessary slowing or stopping caused by incorrect detections. +* Contributors: Dawid Moszynski, Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp index 31d4784b343..7f128c916a9 100644 --- a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp +++ b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp @@ -130,6 +130,8 @@ class ActionNode : public BT::ActionNodeBase -> std::vector; auto getConflictingEntityStatusOnLane(const lanelet::Ids & route_lanelets) const -> std::vector; + auto isOtherEntityAtConsideredAltitude( + const traffic_simulator::CanonicalizedEntityStatus & entity_status) const -> bool; }; } // namespace entity_behavior diff --git a/simulation/behavior_tree_plugin/package.xml b/simulation/behavior_tree_plugin/package.xml index 9be02b547d4..e5c23f826d7 100644 --- a/simulation/behavior_tree_plugin/package.xml +++ b/simulation/behavior_tree_plugin/package.xml @@ -2,7 +2,7 @@ behavior_tree_plugin - 7.0.2 + 7.3.1 Behavior tree plugin for traffic_simulator masaya Apache 2.0 diff --git a/simulation/behavior_tree_plugin/src/action_node.cpp b/simulation/behavior_tree_plugin/src/action_node.cpp index bfeb7573f7c..de0a567456d 100644 --- a/simulation/behavior_tree_plugin/src/action_node.cpp +++ b/simulation/behavior_tree_plugin/src/action_node.cpp @@ -303,7 +303,6 @@ auto ActionNode::getDistanceToTargetEntityPolygon( * boundingBoxRelativeLaneletPose requires routing_configuration, * 'allow_lane_change = true' is needed to check distances to entities on neighbour lanelets */ - traffic_simulator::RoutingConfiguration routing_configuration; routing_configuration.allow_lane_change = true; constexpr bool include_adjacent_lanelet{false}; @@ -345,6 +344,13 @@ auto ActionNode::getDistanceToTargetEntityPolygon( return std::nullopt; } +auto ActionNode::isOtherEntityAtConsideredAltitude( + const traffic_simulator::CanonicalizedEntityStatus & entity_status) const -> bool +{ + return hdmap_utils->isAltitudeMatching( + canonicalized_entity_status->getAltitude(), entity_status.getAltitude()); +} + auto ActionNode::getDistanceToConflictingEntity( const lanelet::Ids & route_lanelets, const math::geometry::CatmullRomSplineInterface & spline) const -> std::optional diff --git a/simulation/do_nothing_plugin/CHANGELOG.rst b/simulation/do_nothing_plugin/CHANGELOG.rst index 57a85dbd380..6e4452593ce 100644 --- a/simulation/do_nothing_plugin/CHANGELOG.rst +++ b/simulation/do_nothing_plugin/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package do_nothing_plugin * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/simulation/do_nothing_plugin/package.xml b/simulation/do_nothing_plugin/package.xml index 9fc2c66d90f..b378fe699ef 100644 --- a/simulation/do_nothing_plugin/package.xml +++ b/simulation/do_nothing_plugin/package.xml @@ -2,7 +2,7 @@ do_nothing_plugin - 7.0.2 + 7.3.1 Behavior plugin for do nothing Masaya Kataoka Apache 2.0 diff --git a/simulation/simple_sensor_simulator/CHANGELOG.rst b/simulation/simple_sensor_simulator/CHANGELOG.rst index d30b0cc1d6f..d77ed23d8fa 100644 --- a/simulation/simple_sensor_simulator/CHANGELOG.rst +++ b/simulation/simple_sensor_simulator/CHANGELOG.rst @@ -21,6 +21,111 @@ Changelog for package simple_sensor_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge pull request `#1481 `_ from tier4/feature/multi-level-lanelet-support + Feature/multi level lanelet support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* fix(simple_sensor_simulator): Fix if condition by adding negation to ensure proper logic +* Remove unused function and update comment +* fix(simple_senor_simulator): fix after Szymon discussion +* fix(simple_sensor_simulator): fix after detection_sensor refactor +* ref(traffic_simulator, simple_sensor_simulator): refactor altitude checks +* Refactor code to improve readability based on SonarQube findings +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Removed unrecognized words because spell-check flagged them as invalid +* [RJD-1369] Improve Collision Solving for Multi-Level Support + - Enhanced BehaviorTree to consider altitude when detecting potential obstacles, + allowing to ignore objects located at different altitudes. + - Modified the detection sensor by introducing Ego plane determination to exclude objects below the Ego plane, + preventing unnecessary slowing or stopping caused by incorrect detections. +* Contributors: Dawid Moszynski, Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge pull request `#1484 `_ from tier4/RJD-736/autoware_msgs_support_and_localization_sim_mode_support + Rjd 736/autoware msgs support and localization sim mode support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Add launch argument `simulate_localization` to `scenario_test_runner` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp index ec4dcf6ef18..0aff66be710 100644 --- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp +++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp @@ -17,7 +17,10 @@ #include +#include +#include #include +#include #include #include #include @@ -48,6 +51,9 @@ class DetectionSensorBase const std::vector &) const -> std::vector::const_iterator; + auto isOnOrAboveEgoPlane( + const geometry_msgs::Pose & npc_pose, const geometry_msgs::Pose & ego_pose) -> bool; + public: virtual ~DetectionSensorBase() = default; @@ -55,6 +61,10 @@ class DetectionSensorBase const double current_simulation_time, const std::vector &, const rclcpp::Time & current_ros_time, const std::vector & lidar_detected_entities) = 0; + +private: + std::optional ego_plane_opt_{std::nullopt}; + std::optional ego_plane_pose_opt_{std::nullopt}; }; template diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml index bb558e2d07a..db94a3f18ed 100644 --- a/simulation/simple_sensor_simulator/package.xml +++ b/simulation/simple_sensor_simulator/package.xml @@ -1,7 +1,7 @@ simple_sensor_simulator - 7.0.2 + 7.3.1 simple_sensor_simulator package masaya kataoka diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index dc6c1837f0d..cf5925688ff 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -19,6 +19,8 @@ #include #include #include +#include +#include #include #include #include @@ -62,6 +64,51 @@ auto DetectionSensorBase::findEgoEntityStatusToWhichThisSensorIsAttached( } } +auto DetectionSensorBase::isOnOrAboveEgoPlane( + const geometry_msgs::Pose & entity_pose, const geometry_msgs::Pose & ego_pose) -> bool +{ + /* + The threshold for detecting significant changes in ego vehicle's orientation (unit: radian). + The value determines the minimum angular difference required to consider the ego orientation + as "changed". + + There is no technical basis for this value, it was determined based on experiments. + */ + constexpr static double rotation_threshold_ = 0.04; + /* + Maximum downward offset in Z-axis relative to the ego position (unit: meter). + If the NPC is lower than this offset relative to the ego position, + the NPC will be excluded from detection + + There is no technical basis for this value, it was determined based on experiments. + */ + constexpr static double max_downward_z_offset_ = 1.0; + + const auto hasEgoOrientationChanged = [this](const geometry_msgs::msg::Pose & ego_pose_ros) { + return math::geometry::getAngleDifference( + ego_pose_ros.orientation, ego_plane_pose_opt_->orientation) > rotation_threshold_; + }; + + // if other entity is at the same altitude as Ego or within max_downward_z_offset_ below Ego + if (entity_pose.position().z() >= (ego_pose.position().z() - max_downward_z_offset_)) { + return true; + // otherwise check if other entity is above ego plane + } else { + // update ego plane if needed + geometry_msgs::msg::Pose ego_pose_ros; + simulation_interface::toMsg(ego_pose, ego_pose_ros); + if (!ego_plane_opt_ || !ego_plane_pose_opt_ || hasEgoOrientationChanged(ego_pose_ros)) { + ego_plane_opt_.emplace( + ego_pose_ros.position, math::geometry::getNormalVector(ego_pose_ros.orientation)); + ego_plane_pose_opt_ = ego_pose_ros; + } + + geometry_msgs::msg::Pose entity_pose_ros; + simulation_interface::toMsg(entity_pose, entity_pose_ros); + return ego_plane_opt_->offset(entity_pose_ros.position) >= 0.0; + } +} + template auto make(From &&...) -> To; @@ -321,6 +368,7 @@ auto DetectionSensor::update( auto is_in_range = [&](const auto & status) { return not isEgoEntityStatusToWhichThisSensorIsAttached(status) and distance(status.pose(), ego_entity_status->pose()) <= configuration_.range() and + isOnOrAboveEgoPlane(status.pose(), ego_entity_status->pose()) and (configuration_.detect_all_objects_in_range() or std::find( lidar_detected_entities.begin(), lidar_detected_entities.end(), status.name()) != diff --git a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp index 2452d66f732..99fb0380396 100644 --- a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp +++ b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp @@ -41,7 +41,8 @@ EgoEntitySimulation::EgoEntitySimulation( const traffic_simulator_msgs::msg::VehicleParameters & parameters, double step_time, const std::shared_ptr & hdmap_utils, const rclcpp::Parameter & use_sim_time, const bool consider_acceleration_by_road_slope) -: autoware(std::make_unique()), +: autoware( + std::make_unique(getParameter("simulate_localization"))), vehicle_model_type_(getVehicleModelType()), vehicle_model_ptr_(makeSimulationModel(vehicle_model_type_, step_time, parameters)), status_(initial_status, std::nullopt), diff --git a/simulation/simulation_interface/CHANGELOG.rst b/simulation/simulation_interface/CHANGELOG.rst index 695f680fc6e..8c8f91ceddb 100644 --- a/simulation/simulation_interface/CHANGELOG.rst +++ b/simulation/simulation_interface/CHANGELOG.rst @@ -21,6 +21,96 @@ Changelog for package simulation_interface * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* fix(traffic_simulator): revert clang changes +* ref(traffic_simulator, simple_sensor_simulator): refactor altitude checks +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Dawid Moszynski, Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/simulation/simulation_interface/package.xml b/simulation/simulation_interface/package.xml index 21bee384cc4..3f569af880e 100644 --- a/simulation/simulation_interface/package.xml +++ b/simulation/simulation_interface/package.xml @@ -2,7 +2,7 @@ simulation_interface - 7.0.2 + 7.3.1 packages to define interface between simulator and scenario interpreter Masaya Kataoka Apache License 2.0 diff --git a/simulation/traffic_simulator/CHANGELOG.rst b/simulation/traffic_simulator/CHANGELOG.rst index 525db7453f5..7b228778c1f 100644 --- a/simulation/traffic_simulator/CHANGELOG.rst +++ b/simulation/traffic_simulator/CHANGELOG.rst @@ -21,6 +21,110 @@ Changelog for package traffic_simulator * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge pull request `#1481 `_ from tier4/feature/multi-level-lanelet-support + Feature/multi level lanelet support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* fix(traffic_simulator): revert clang changes +* ref(traffic_simulator, simple_sensor_simulator): refactor altitude checks +* Merge branch 'master' into feature/multi-level-lanelet-support +* [RJD-1370] Fix 3D Lanelet Matching Issue in cpp_mock_scenario + - Updated the makeRandomPose method to correctly support 3D lanelet matching. +* Fix an issue with unit tests - distanceTest +* Merge branch 'master' into feature/multi-level-lanelet-support +* Removed unrecognized words because spell-check flagged them as invalid +* [RJD-1369] Improve lanelet matching - 3D support + - Enhanced lanelet matching algorithm (`toLaneletPose` method) by incorporating lanelet altitude. + - Defined the `altitude_threshold` parameter that sets the maximum altitude difference to determine when an entity can be matched with a specific lanelet. +* Contributors: Dawid Moszynski, Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge pull request `#1484 `_ from tier4/RJD-736/autoware_msgs_support_and_localization_sim_mode_support + Rjd 736/autoware msgs support and localization sim mode support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Add launch argument `simulate_localization` to `scenario_test_runner` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge pull request `#1465 `_ from tier4/fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* fix(api): request enable autoware control +* Contributors: Kotaro Yoshimoto, satoshi-ota + 7.0.2 (2024-12-12) ------------------ * Merge pull request `#1470 `_ from tier4/fix/snor-cloud-issue-8-1 diff --git a/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp b/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp index 68a781808a3..b1d07af341f 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp @@ -54,6 +54,8 @@ class CanonicalizedEntityStatus auto getMapPose() const noexcept -> const geometry_msgs::msg::Pose &; auto setMapPose(const geometry_msgs::msg::Pose & pose) -> void; + auto getAltitude() const -> double; + auto getTwist() const noexcept -> const geometry_msgs::msg::Twist &; auto setTwist(const geometry_msgs::msg::Twist & twist) -> void; auto setLinearVelocity(double linear_velocity) -> void; diff --git a/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp b/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp index 0f34b2c7c97..9be623a2cab 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp @@ -160,7 +160,7 @@ class HdMapUtils const traffic_simulator::RoutingGraphType type = traffic_simulator::RoutingConfiguration().routing_graph_type) const -> lanelet::Ids; - auto getHeight(const traffic_simulator_msgs::msg::LaneletPose &) const -> double; + auto getAltitude(const traffic_simulator_msgs::msg::LaneletPose &) const -> double; auto getLaneChangeTrajectory( const geometry_msgs::msg::Pose & from, @@ -380,6 +380,13 @@ class HdMapUtils auto toMapPose(const traffic_simulator_msgs::msg::LaneletPose &, const bool fill_pitch = true) const -> geometry_msgs::msg::PoseStamped; + auto isAltitudeMatching(const double current_altitude, const double target_altitude) const + -> bool; + + auto getLaneletAltitude( + const lanelet::Id & lanelet_id, const geometry_msgs::msg::Pose & pose, + const double matching_distance = 1.0) const -> std::optional; + private: /** @defgroup cache * Declared mutable for caching diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_source.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_source.hpp index cb2b70636cd..c9daa49273e 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_source.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_source.hpp @@ -117,7 +117,8 @@ class TrafficSource : public TrafficModuleBase const std::size_t id; private: - auto makeRandomPose(const bool random_orientation = false) -> geometry_msgs::msg::Pose; + auto makeRandomPose(const bool random_orientation, const VehicleOrPedestrianParameter & parameter) + -> geometry_msgs::msg::Pose; auto isPoseValid(const VehicleOrPedestrianParameter &, const geometry_msgs::msg::Pose &) -> std::pair>; diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml index 19e650a4e2d..c67b4d0e330 100644 --- a/simulation/traffic_simulator/package.xml +++ b/simulation/traffic_simulator/package.xml @@ -1,7 +1,7 @@ traffic_simulator - 7.0.2 + 7.3.1 control traffic flow masaya kataoka diff --git a/simulation/traffic_simulator/src/api/api.cpp b/simulation/traffic_simulator/src/api/api.cpp index 26e5c0db2d7..21ff6e498d7 100644 --- a/simulation/traffic_simulator/src/api/api.cpp +++ b/simulation/traffic_simulator/src/api/api.cpp @@ -94,6 +94,7 @@ auto API::respawn( entity_manager_ptr_->asFieldOperatorApplication(name).clearRoute(); entity_manager_ptr_->asFieldOperatorApplication(name).plan({goal_pose}); + entity_manager_ptr_->asFieldOperatorApplication(name).enableAutowareControl(); entity_manager_ptr_->asFieldOperatorApplication(name).engage(); } } diff --git a/simulation/traffic_simulator/src/data_type/entity_status.cpp b/simulation/traffic_simulator/src/data_type/entity_status.cpp index b2bfb78432e..758d10b6abf 100644 --- a/simulation/traffic_simulator/src/data_type/entity_status.cpp +++ b/simulation/traffic_simulator/src/data_type/entity_status.cpp @@ -122,6 +122,11 @@ auto CanonicalizedEntityStatus::getMapPose() const noexcept -> const geometry_ms return entity_status_.pose; } +auto CanonicalizedEntityStatus::getAltitude() const -> double +{ + return entity_status_.pose.position.z; +} + auto CanonicalizedEntityStatus::getLaneletPose() const noexcept -> const LaneletPose & { if (canonicalized_lanelet_pose_) { diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp index f18cd5e2c54..e5cce78c26c 100644 --- a/simulation/traffic_simulator/src/entity/ego_entity.cpp +++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp @@ -54,6 +54,7 @@ auto EgoEntity::makeFieldOperatorApplication( parameters.push_back("use_foa:=false"); parameters.push_back("perception/enable_traffic_light:=" + std::string(architecture_type >= "awf/universe/20230906" ? "true" : "false")); parameters.push_back("use_sim_time:=" + std::string(getParameter(node_parameters, "use_sim_time", false) ? "true" : "false")); + parameters.push_back("localization_sim_mode:=" + std::string(getParameter(node_parameters, "simulate_localization") ? "api" : "pose_twist_estimator")); // clang-format on return getParameter(node_parameters, "launch_autoware", true) diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp index 650fb0fd802..eab04aaf2f2 100644 --- a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp +++ b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp @@ -333,7 +333,7 @@ auto HdMapUtils::getNearbyLaneletIds( return lanelet_ids; } -auto HdMapUtils::getHeight(const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose) const +auto HdMapUtils::getAltitude(const traffic_simulator_msgs::msg::LaneletPose & lanelet_pose) const -> double { return toMapPose(lanelet_pose).pose.position.z; @@ -594,6 +594,11 @@ auto HdMapUtils::toLaneletPose( return std::nullopt; } auto pose_on_centerline = spline->getPose(s.value()); + + if (!isAltitudeMatching(pose.position.z, pose_on_centerline.position.z)) { + return std::nullopt; + } + auto rpy = math::geometry::convertQuaternionToEulerAngle( math::geometry::getRotation(pose_on_centerline.orientation, pose.orientation)); double offset = std::sqrt(spline->getSquaredDistanceIn2D(pose.position, s.value())); @@ -617,6 +622,25 @@ auto HdMapUtils::toLaneletPose( return lanelet_pose; } +auto HdMapUtils::isAltitudeMatching( + const double current_altitude, const double target_altitude) const -> bool +{ + /* + Using a fixed `altitude_threshold` value of 1.0 [m] is justified because the + entity's Z-position is always relative to its base. This eliminates the + need to dynamically adjust the threshold based on the entity's dimensions, + ensuring consistent altitude matching regardless of the entity type. + + The position of the entity is defined relative to its base, typically + the center of the rear axle projected onto the ground in the case of vehicles. + + There is no technical basis for this value; it was determined based on + experiments. + */ + static constexpr double altitude_threshold = 1.0; + return std::abs(current_altitude - target_altitude) <= altitude_threshold; +} + auto HdMapUtils::toLaneletPose( const geometry_msgs::msg::Pose & pose, const lanelet::Ids & lanelet_ids, const double matching_distance) const -> std::optional @@ -2166,6 +2190,18 @@ auto HdMapUtils::toPolygon(const lanelet::ConstLineString3d & line_string) const return ret; } +auto HdMapUtils::getLaneletAltitude( + const lanelet::Id & lanelet_id, const geometry_msgs::msg::Pose & pose, + const double matching_distance) const -> std::optional +{ + if (const auto spline = getCenterPointsSpline(lanelet_id)) { + if (const auto s = spline->getSValue(pose, matching_distance)) { + return spline->getPoint(s.value()).z; + } + } + return std::nullopt; +} + HdMapUtils::RoutingGraphs::RoutingGraphs(const lanelet::LaneletMapPtr & lanelet_map) { vehicle.rules = lanelet::traffic_rules::TrafficRulesFactory::create( diff --git a/simulation/traffic_simulator/src/traffic/traffic_source.cpp b/simulation/traffic_simulator/src/traffic/traffic_source.cpp index 350920a42d1..68f82fdce61 100644 --- a/simulation/traffic_simulator/src/traffic/traffic_source.cpp +++ b/simulation/traffic_simulator/src/traffic/traffic_source.cpp @@ -72,7 +72,9 @@ auto TrafficSource::Validator::operator()( }); } -auto TrafficSource::makeRandomPose(const bool random_orientation) -> geometry_msgs::msg::Pose +auto TrafficSource::makeRandomPose( + const bool random_orientation, const VehicleOrPedestrianParameter & parameter) + -> geometry_msgs::msg::Pose { const double angle = angle_distribution_(engine_); @@ -83,6 +85,17 @@ auto TrafficSource::makeRandomPose(const bool random_orientation) -> geometry_ms random_pose.position.x += radius * std::cos(angle); random_pose.position.y += radius * std::sin(angle); + if (const auto nearby_lanelets = hdmap_utils_->getNearbyLaneletIds( + random_pose.position, radius, std::holds_alternative(parameter)); + !nearby_lanelets.empty()) { + // Get the altitude of the first nearby lanelet + if ( + const auto altitude = + hdmap_utils_->getLaneletAltitude(nearby_lanelets.front(), random_pose, radius)) { + random_pose.position.z = altitude.value(); + } + } + if (random_orientation) { random_pose.orientation = math::geometry::convertEulerAngleToQuaternion( traffic_simulator::helper::constructRPY(0.0, 0.0, angle_distribution_(engine_))); @@ -106,7 +119,7 @@ void TrafficSource::execute( static constexpr auto max_randomization_attempts = 10000; for (auto tries = 0; tries < max_randomization_attempts; ++tries) { - auto candidate_pose = makeRandomPose(configuration_.use_random_orientation); + auto candidate_pose = makeRandomPose(configuration_.use_random_orientation, parameter); if (auto [valid, lanelet_pose] = isPoseValid(parameter, candidate_pose); valid) { return std::make_pair(candidate_pose, lanelet_pose); } diff --git a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp index eaa36c849a4..dd0dda7330f 100644 --- a/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp +++ b/simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp @@ -2098,9 +2098,11 @@ TEST_F(HdMapUtilsTest_StandardMap, getLongitudinalDistance_differentLanelet) TEST_F(HdMapUtilsTest_FourTrackHighwayMap, getLongitudinalDistance_differentLaneletNoRoute) { const auto pose_to = hdmap_utils.toLaneletPose( - makePose(makePoint(81590.79, 50067.66), makeQuaternionFromYaw(90.0)), lanelet::Id{3002185}); + makePose(makePoint(81590.79, 50067.66, 35.0), makeQuaternionFromYaw(90.0)), + lanelet::Id{3002185}); const auto pose_from = hdmap_utils.toLaneletPose( - makePose(makePoint(81596.20, 50068.04), makeQuaternionFromYaw(90.0)), lanelet::Id{3002166}); + makePose(makePoint(81596.20, 50068.04, 35.0), makeQuaternionFromYaw(90.0)), + lanelet::Id{3002166}); ASSERT_TRUE(pose_from.has_value()); ASSERT_TRUE(pose_to.has_value()); diff --git a/simulation/traffic_simulator/test/src/helper_functions.hpp b/simulation/traffic_simulator/test/src/helper_functions.hpp index a12b5e33328..c10cc1d4931 100644 --- a/simulation/traffic_simulator/test/src/helper_functions.hpp +++ b/simulation/traffic_simulator/test/src/helper_functions.hpp @@ -63,13 +63,14 @@ auto makeQuaternionFromYaw(const double yaw) -> geometry_msgs::msg::Quaternion geometry_msgs::build().x(0.0).y(0.0).z(yaw)); } -auto makePose(const double x, const double y, const double yaw_deg) -> geometry_msgs::msg::Pose +auto makePose(const double x, const double y, const double z, const double yaw_deg) + -> geometry_msgs::msg::Pose { /** * @note +x axis is 0 degrees; +y axis is 90 degrees */ return geometry_msgs::build() - .position(geometry_msgs::build().x(x).y(y).z(0.0)) + .position(geometry_msgs::build().x(x).y(y).z(z)) .orientation(math::geometry::convertEulerAngleToQuaternion( geometry_msgs::build().x(0.0).y(0.0).z( convertDegToRad(yaw_deg)))); diff --git a/simulation/traffic_simulator/test/src/utils/test_distance.cpp b/simulation/traffic_simulator/test/src/utils/test_distance.cpp index d288117c96b..8dc5b5cdee8 100644 --- a/simulation/traffic_simulator/test/src/utils/test_distance.cpp +++ b/simulation/traffic_simulator/test/src/utils/test_distance.cpp @@ -238,10 +238,10 @@ TEST_F(distanceTest_FourTrackHighwayMap, longitudinalDistance_noAdjacent_noOppos { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81595.44, 50006.09, 100.0), false, hdmap_utils_ptr); + makePose(81595.44, 50006.09, 35.0, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81584.48, 50084.76, 100.0), false, hdmap_utils_ptr); + makePose(81584.48, 50084.76, 35.0, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto result = traffic_simulator::distance::longitudinalDistance( @@ -260,10 +260,10 @@ TEST_F(distanceTest_StandardMap, longitudinalDistance_noAdjacent_noOpposite_noCh { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(3800.05, 73715.77, 30.0), false, hdmap_utils_ptr); + makePose(3800.05, 73715.77, 0.5, 30.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(3841.26, 73748.80, 110.0), false, hdmap_utils_ptr); + makePose(3841.26, 73748.80, 0.5, 110.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto result = traffic_simulator::distance::longitudinalDistance( @@ -283,10 +283,10 @@ TEST_F(distanceTest_FourTrackHighwayMap, longitudinalDistance_adjacent_noOpposit { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81585.79, 50042.62, 100.0), false, hdmap_utils_ptr); + makePose(81585.79, 50042.62, 35.0, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81588.34, 50083.23, 100.0), false, hdmap_utils_ptr); + makePose(81588.34, 50083.23, 35.0, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto result = traffic_simulator::distance::longitudinalDistance( @@ -305,10 +305,10 @@ TEST_F(distanceTest_FourTrackHighwayMap, longitudinalDistance_adjacent_noOpposit { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81599.02, 50065.76, 280.0), false, hdmap_utils_ptr); + makePose(81599.02, 50065.76, 35.0, 280.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81599.61, 50045.16, 280.0), false, hdmap_utils_ptr); + makePose(81599.61, 50045.16, 35.0, 280.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto result = traffic_simulator::distance::longitudinalDistance( @@ -328,10 +328,10 @@ TEST_F(distanceTest_FourTrackHighwayMap, longitudinalDistance_noAdjacent_noOppos { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81595.47, 49982.80, 100.0), false, hdmap_utils_ptr); + makePose(81595.47, 49982.80, 36.0, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81599.34, 50022.34, 100.0), false, hdmap_utils_ptr); + makePose(81599.34, 50022.34, 35.0, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -343,10 +343,10 @@ TEST_F(distanceTest_FourTrackHighwayMap, longitudinalDistance_noAdjacent_noOppos } { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81612.35, 50015.63, 280.0), false, hdmap_utils_ptr); + makePose(81612.35, 50015.63, 35.0, 280.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81612.95, 49991.30, 280.0), false, hdmap_utils_ptr); + makePose(81612.95, 49991.30, 35.5, 280.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -367,10 +367,10 @@ TEST_F(distanceTest_FourTrackHighwayMap, longitudinalDistance_noAdjacent_noOppos { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81592.96, 49997.94, 100.0), false, hdmap_utils_ptr); + makePose(81592.96, 49997.94, 35.0, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81570.56, 50141.75, 100.0), false, hdmap_utils_ptr); + makePose(81570.56, 50141.75, 35.0, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -383,10 +383,10 @@ TEST_F(distanceTest_FourTrackHighwayMap, longitudinalDistance_noAdjacent_noOppos } { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81587.31, 50165.57, 100.0), false, hdmap_utils_ptr); + makePose(81587.31, 50165.57, 35.0, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(81610.25, 49988.59, 100.0), false, hdmap_utils_ptr); + makePose(81610.25, 49988.59, 35.5, 100.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -406,10 +406,10 @@ TEST_F(distanceTest_IntersectionMap, longitudinalDistance_noAdjacent_noOpposite_ { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86627.71, 44972.06, 340.0), false, hdmap_utils_ptr); + makePose(86627.71, 44972.06, 3.0, 340.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); + makePose(86647.23, 44882.51, 3.0, 240.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -421,10 +421,10 @@ TEST_F(distanceTest_IntersectionMap, longitudinalDistance_noAdjacent_noOpposite_ } { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86555.38, 45000.88, 340.0), false, hdmap_utils_ptr); + makePose(86555.38, 45000.88, 3.0, 340.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86647.23, 44882.51, 240.0), false, hdmap_utils_ptr); + makePose(86647.23, 44882.51, 3.0, 240.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -436,10 +436,10 @@ TEST_F(distanceTest_IntersectionMap, longitudinalDistance_noAdjacent_noOpposite_ } { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86788.82, 44993.77, 210.0), false, hdmap_utils_ptr); + makePose(86788.82, 44993.77, 3.0, 210.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86553.48, 44990.56, 150.0), false, hdmap_utils_ptr); + makePose(86553.48, 44990.56, 3.0, 150.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -451,10 +451,10 @@ TEST_F(distanceTest_IntersectionMap, longitudinalDistance_noAdjacent_noOpposite_ } { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86788.82, 44993.77, 210.0), false, hdmap_utils_ptr); + makePose(86788.82, 44993.77, 3.0, 210.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86579.91, 44979.00, 150.0), false, hdmap_utils_ptr); + makePose(86579.91, 44979.00, 3.0, 150.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -475,10 +475,10 @@ TEST_F(distanceTest_IntersectionMap, longitudinalDistance_adjacent_noOpposite_ch { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86736.13, 44969.63, 210.0), false, hdmap_utils_ptr); + makePose(86736.13, 44969.63, 3.0, 210.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86642.95, 44958.78, 340.0), false, hdmap_utils_ptr); + makePose(86642.95, 44958.78, 3.0, 340.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -490,10 +490,10 @@ TEST_F(distanceTest_IntersectionMap, longitudinalDistance_adjacent_noOpposite_ch } { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86732.06, 44976.58, 210.0), false, hdmap_utils_ptr); + makePose(86732.06, 44976.58, 3.0, 210.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86704.59, 44927.32, 340.0), false, hdmap_utils_ptr); + makePose(86704.59, 44927.32, 3.0, 340.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -514,9 +514,9 @@ TEST_F(distanceTest_IntersectionMap, longitudinalDistance_adjacent_noOpposite_ch { { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86637.19, 44967.35, 340.0), false, hdmap_utils_ptr); + makePose(86637.19, 44967.35, 3.0, 340.0), false, hdmap_utils_ptr); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86648.82, 44886.19, 240.0), false, hdmap_utils_ptr); + makePose(86648.82, 44886.19, 3.0, 240.0), false, hdmap_utils_ptr); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; lane_changeable_routing_configuration.allow_lane_change = true; @@ -528,10 +528,10 @@ TEST_F(distanceTest_IntersectionMap, longitudinalDistance_adjacent_noOpposite_ch } { const auto pose_from = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86719.94, 44957.20, 210.0), false, hdmap_utils_ptr); + makePose(86719.94, 44957.20, 3.0, 210.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); const auto pose_to = traffic_simulator::toCanonicalizedLaneletPose( - makePose(86599.32, 44975.01, 180.0), false, hdmap_utils_ptr); + makePose(86599.32, 44975.01, 3.0, 180.0), false, hdmap_utils_ptr); ASSERT_TRUE(pose_from.has_value()); traffic_simulator::RoutingConfiguration lane_changeable_routing_configuration; @@ -550,8 +550,8 @@ TEST_F(distanceTest_IntersectionMap, longitudinalDistance_adjacent_noOpposite_ch */ TEST(distance, boundingBoxDistance_intersection) { - const auto pose_from = makePose(100.0, 100.0, 0.0); - const auto pose_to = makePose(120.0, 100.0, 90.0); + const auto pose_from = makePose(100.0, 100.0, 0.0, 0.0); + const auto pose_to = makePose(120.0, 100.0, 0.0, 90.0); const auto bounding_box_from = makeCustom2DBoundingBox(30.0, 1.0); const auto bounding_box_to = makeCustom2DBoundingBox(1.0, 30.0); @@ -569,8 +569,8 @@ TEST(distance, boundingBoxDistance_intersection) */ TEST(distance, boundingBoxDistance_disjoint) { - const auto pose_from = makePose(100.0, 100.0, 0.0); - const auto pose_to = makePose(120.0, 100.0, 90.0); + const auto pose_from = makePose(100.0, 100.0, 0.0, 0.0); + const auto pose_to = makePose(120.0, 100.0, 0.0, 90.0); const auto bounding_box_from = makeCustom2DBoundingBox(1.0, 30.0); const auto bounding_box_to = makeCustom2DBoundingBox(30.0, 1.0); @@ -592,56 +592,56 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_single) constexpr lanelet::Id lanelet_id = 34741L; constexpr double tolerance = 0.1; { - const auto pose = makePose(3818.33, 73726.18, 30.0); + const auto pose = makePose(3818.33, 73726.18, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 0.5, tolerance); } { - const auto pose = makePose(3816.89, 73723.09, 30.0); + const auto pose = makePose(3816.89, 73723.09, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.6, tolerance); } { - const auto pose = makePose(3813.42, 73721.11, 30.0); + const auto pose = makePose(3813.42, 73721.11, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.7, tolerance); } { - const auto pose = makePose(3813.42, 73721.11, 120.0); + const auto pose = makePose(3813.42, 73721.11, 0.0, 120.0); const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 1.3, tolerance); } { - const auto pose = makePose(3810.99, 73721.40, 30.0); + const auto pose = makePose(3810.99, 73721.40, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 1.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 1.4, tolerance); } { - const auto pose = makePose(3810.99, 73721.40, 30.0); + const auto pose = makePose(3810.99, 73721.40, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, -1.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.4, tolerance); } { - const auto pose = makePose(3680.81, 73757.27, 30.0); + const auto pose = makePose(3680.81, 73757.27, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, 34684L, hdmap_utils_ptr); EXPECT_NEAR(result, 5.1, tolerance); } { - const auto pose = makePose(3692.79, 73753.00, 30.0); + const auto pose = makePose(3692.79, 73753.00, 0.0, 30.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, 34684L, hdmap_utils_ptr); @@ -656,7 +656,7 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_single) TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_multipleVector) { const auto lanelet_ids = lanelet::Ids{34603L, 34600L, 34621L, 34741L}; - const auto pose = makePose(3836.16, 73757.99, 120.0); + const auto pose = makePose(3836.16, 73757.99, 0.0, 120.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double actual_distance = std::transform_reduce( lanelet_ids.cbegin(), lanelet_ids.cend(), std::numeric_limits::max(), @@ -678,7 +678,7 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_multipleVector) TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_singleVector) { constexpr lanelet::Id lanelet_id = 34426L; - const auto pose = makePose(3693.34, 73738.37, 300.0); + const auto pose = makePose(3693.34, 73738.37, 0.0, 300.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double actual_distance = traffic_simulator::distance::distanceToLeftLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); @@ -693,7 +693,7 @@ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_singleVector) */ TEST_F(distanceTest_StandardMap, distanceToLeftLaneBound_emptyVector) { - const auto pose = makePose(3825.87, 73773.08, 135.0); + const auto pose = makePose(3825.87, 73773.08, 0.0, 135.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); EXPECT_THROW( traffic_simulator::distance::distanceToLeftLaneBound( @@ -709,56 +709,56 @@ TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_single) constexpr lanelet::Id lanelet_id = 660L; constexpr double tolerance = 0.1; { - const auto pose = makePose(86651.84, 44941.47, 135.0); + const auto pose = makePose(86651.84, 44941.47, 0.0, 135.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 4.1, tolerance); } { - const auto pose = makePose(86653.05, 44946.74, 135.0); + const auto pose = makePose(86653.05, 44946.74, 0.0, 135.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 0.6, tolerance); } { - const auto pose = makePose(86651.47, 44941.07, 120.0); + const auto pose = makePose(86651.47, 44941.07, 0.0, 120.0); const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 4.3, tolerance); } { - const auto pose = makePose(86651.47, 44941.07, 210.0); + const auto pose = makePose(86651.47, 44941.07, 0.0, 210.0); const auto bounding_box = makeCustom2DBoundingBox(3.0, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 3.1, tolerance); } { - const auto pose = makePose(86644.10, 44951.86, 150.0); + const auto pose = makePose(86644.10, 44951.86, 0.0, 150.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 1.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 2.0, tolerance); } { - const auto pose = makePose(86644.10, 44951.86, 150.0); + const auto pose = makePose(86644.10, 44951.86, 0.0, 150.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, -1.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 1.1, tolerance); } { - const auto pose = makePose(86644.11, 44941.21, 0.0); + const auto pose = makePose(86644.11, 44941.21, 0.0, 0.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); EXPECT_NEAR(result, 11.2, tolerance); } { - const auto pose = makePose(86656.83, 44946.96, 0.0); + const auto pose = makePose(86656.83, 44946.96, 0.0, 0.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double result = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); @@ -773,7 +773,7 @@ TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_single) TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_multipleVector) { const auto lanelet_ids = lanelet::Ids{660L, 663L, 684L, 654L, 686L}; - const auto pose = makePose(86642.05, 44902.61, 60.0); + const auto pose = makePose(86642.05, 44902.61, 0.0, 60.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double actual_distance = std::transform_reduce( lanelet_ids.cbegin(), lanelet_ids.cend(), std::numeric_limits::max(), @@ -795,7 +795,7 @@ TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_multipleVector) TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_singleVector) { constexpr lanelet::Id lanelet_id = 654L; - const auto pose = makePose(86702.79, 44929.05, 150.0); + const auto pose = makePose(86702.79, 44929.05, 0.0, 150.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); const double actual_distance = traffic_simulator::distance::distanceToRightLaneBound( pose, bounding_box, lanelet_id, hdmap_utils_ptr); @@ -810,7 +810,7 @@ TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_singleVector) */ TEST_F(distanceTest_IntersectionMap, distanceToRightLaneBound_emptyVector) { - const auto pose = makePose(3825.87, 73773.08, 135.0); + const auto pose = makePose(3825.87, 73773.08, 0.0, 135.0); const auto bounding_box = makeCustom2DBoundingBox(0.1, 0.1, 0.0, 0.0); EXPECT_THROW( traffic_simulator::distance::distanceToRightLaneBound( diff --git a/simulation/traffic_simulator_msgs/CHANGELOG.rst b/simulation/traffic_simulator_msgs/CHANGELOG.rst index 63e1f6fcc89..fae37a7c908 100644 --- a/simulation/traffic_simulator_msgs/CHANGELOG.rst +++ b/simulation/traffic_simulator_msgs/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package openscenario_msgs * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/simulation/traffic_simulator_msgs/package.xml b/simulation/traffic_simulator_msgs/package.xml index d2c17555369..e482023f511 100644 --- a/simulation/traffic_simulator_msgs/package.xml +++ b/simulation/traffic_simulator_msgs/package.xml @@ -2,7 +2,7 @@ traffic_simulator_msgs - 7.0.2 + 7.3.1 ROS messages for openscenario Masaya Kataoka Apache License 2.0 diff --git a/test_runner/random_test_runner/CHANGELOG.rst b/test_runner/random_test_runner/CHANGELOG.rst index 4340d7352b4..035eec91233 100644 --- a/test_runner/random_test_runner/CHANGELOG.rst +++ b/test_runner/random_test_runner/CHANGELOG.rst @@ -21,6 +21,93 @@ Changelog for package random_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml index 8f1a0332630..12180bd9930 100644 --- a/test_runner/random_test_runner/package.xml +++ b/test_runner/random_test_runner/package.xml @@ -2,7 +2,7 @@ random_test_runner - 7.0.2 + 7.3.1 Random behavior test runner piotr-zyskowski-rai Apache License 2.0 diff --git a/test_runner/scenario_test_runner/CHANGELOG.rst b/test_runner/scenario_test_runner/CHANGELOG.rst index 39c8efa3a9e..04f4a493b78 100644 --- a/test_runner/scenario_test_runner/CHANGELOG.rst +++ b/test_runner/scenario_test_runner/CHANGELOG.rst @@ -35,6 +35,110 @@ Changelog for package scenario_test_runner * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context * Contributors: Masaya Kataoka +7.3.1 (2024-12-17) +------------------ +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Merge branch 'master' into fix/math-closest-point +* Contributors: Kotaro Yoshimoto + +7.3.0 (2024-12-16) +------------------ +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Merge branch 'master' into feature/multi-level-lanelet-support +* Contributors: Kotaro Yoshimoto, SzymonParapura + +7.2.0 (2024-12-16) +------------------ +* Merge pull request `#1484 `_ from tier4/RJD-736/autoware_msgs_support_and_localization_sim_mode_support + Rjd 736/autoware msgs support and localization sim mode support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support +* Add launch argument `simulate_localization` to `scenario_test_runner` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.1.0 (2024-12-16) +------------------ +* Merge pull request `#1258 `_ from tier4/feature/time-to-collision-condition + Feature/time to collision condition +* Update `TimeToCollisionCondition` to call `SpeedCondition` in standard compatible mode +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Remove static member function `evaluateTimeToCollisionCondition` +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Fix `evaluateTimeToCollisionCondition` to not return meaningless value when collisions cannot occur +* Fix `TimeToCollisionCondition` to return inf if relative speed < zero +* Cleanup static member function `TimeToCollisionCondition::evaluate` +* Add new test scenario `...EntityCondition.TimeToCollisionCondition.yaml` +* Add new member function `evaluateCartesianTimeToCollisionCondition` +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Merge branch 'master' into feature/time-to-collision-condition +* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.4 (2024-12-13) +------------------ +* Merge pull request `#1486 `_ from tier4/fix/speed-condition/backward-compatibility + Fix/speed condition/backward compatibility +* Merge branch 'master' into fix/speed-condition/backward-compatibility +* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility +* Add new parameter `speed_condition` to switch compatibility +* Add new enumeration `Compatibility` +* Contributors: Tatsuya Yamasaki, yamacir-kit + +7.0.3 (2024-12-13) +------------------ +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Merge branch 'master' into fix/request-enable-autoware-control +* Contributors: Kotaro Yoshimoto + 7.0.2 (2024-12-12) ------------------ * Merge branch 'master' into fix/snor-cloud-issue-8-1 diff --git a/test_runner/scenario_test_runner/config/workflow.txt b/test_runner/scenario_test_runner/config/workflow.txt index 46e762e2144..b5ae1aef8e6 100644 --- a/test_runner/scenario_test_runner/config/workflow.txt +++ b/test_runner/scenario_test_runner/config/workflow.txt @@ -7,6 +7,7 @@ $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityConditio $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeClearanceCondition-back.yaml $(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.RelativeSpeedCondition.yaml +$(find-pkg-share scenario_test_runner)/scenario/ByEntityCondition.EntityCondition.TimeToCollisionCondition.yaml $(find-pkg-share scenario_test_runner)/scenario/ControllerAction.AssignControllerAction.yaml $(find-pkg-share scenario_test_runner)/scenario/LateralAction.LaneChangeAction-RoadShoulder.yaml $(find-pkg-share scenario_test_runner)/scenario/LongitudinalAction.SpeedAction.yaml diff --git a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py index 98897b9badf..9ad03b6f027 100755 --- a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py +++ b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py @@ -87,6 +87,8 @@ def launch_setup(context, *args, **kwargs): scenario = LaunchConfiguration("scenario", default=Path("/dev/null")) sensor_model = LaunchConfiguration("sensor_model", default="") sigterm_timeout = LaunchConfiguration("sigterm_timeout", default=8) + simulate_localization = LaunchConfiguration("simulate_localization", default=True) + speed_condition = LaunchConfiguration("speed_condition", default="legacy") use_sim_time = LaunchConfiguration("use_sim_time", default=False) vehicle_model = LaunchConfiguration("vehicle_model", default="") # fmt: on @@ -111,6 +113,8 @@ def launch_setup(context, *args, **kwargs): print(f"scenario := {scenario.perform(context)}") print(f"sensor_model := {sensor_model.perform(context)}") print(f"sigterm_timeout := {sigterm_timeout.perform(context)}") + print(f"simulate_localization := {simulate_localization.perform(context)}") + print(f"speed_condition := {speed_condition.perform(context)}") print(f"use_sim_time := {use_sim_time.perform(context)}") print(f"vehicle_model := {vehicle_model.perform(context)}") @@ -135,6 +139,8 @@ def make_parameters(): {"rviz_config": rviz_config}, {"sensor_model": sensor_model}, {"sigterm_timeout": sigterm_timeout}, + {"simulate_localization": simulate_localization}, + {"speed_condition": speed_condition}, {"use_sim_time": use_sim_time}, {"vehicle_model": vehicle_model}, ] @@ -173,12 +179,14 @@ def collect_prefixed_parameters(): DeclareLaunchArgument("global_timeout", default_value=global_timeout ), DeclareLaunchArgument("launch_autoware", default_value=launch_autoware ), DeclareLaunchArgument("launch_rviz", default_value=launch_rviz ), - DeclareLaunchArgument("publish_empty_context", default_value=publish_empty_context ), DeclareLaunchArgument("output_directory", default_value=output_directory ), + DeclareLaunchArgument("publish_empty_context", default_value=publish_empty_context ), DeclareLaunchArgument("rviz_config", default_value=rviz_config ), DeclareLaunchArgument("scenario", default_value=scenario ), DeclareLaunchArgument("sensor_model", default_value=sensor_model ), DeclareLaunchArgument("sigterm_timeout", default_value=sigterm_timeout ), + DeclareLaunchArgument("simulate_localization", default_value=simulate_localization ), + DeclareLaunchArgument("speed_condition", default_value=speed_condition ), DeclareLaunchArgument("use_sim_time", default_value=use_sim_time ), DeclareLaunchArgument("vehicle_model", default_value=vehicle_model ), # fmt: on diff --git a/test_runner/scenario_test_runner/package.xml b/test_runner/scenario_test_runner/package.xml index f95ecbcf47a..44144b785c7 100644 --- a/test_runner/scenario_test_runner/package.xml +++ b/test_runner/scenario_test_runner/package.xml @@ -2,7 +2,7 @@ scenario_test_runner - 7.0.2 + 7.3.1 scenario test runner package Tatsuya Yamasaki Apache License 2.0 diff --git a/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.TimeToCollisionCondition.yaml b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.TimeToCollisionCondition.yaml new file mode 100644 index 00000000000..213ac429acd --- /dev/null +++ b/test_runner/scenario_test_runner/scenario/ByEntityCondition.EntityCondition.TimeToCollisionCondition.yaml @@ -0,0 +1,235 @@ +ScenarioModifiers: + ScenarioModifier: [] +OpenSCENARIO: + FileHeader: { revMajor: 1, revMinor: 1, date: '2024-11-25T04:18:18.703Z', description: '', author: Tatsuya Yamasaki } + ParameterDeclarations: + ParameterDeclaration: [] + CatalogLocations: + VehicleCatalog: + Directory: { path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle } + RoadNetwork: + LogicFile: { filepath: $(ros2 pkg prefix --share kashiwanoha_map)/map } + Entities: + ScenarioObject: + - name: ego + CatalogReference: { catalogName: sample_vehicle, entryName: sample_vehicle } + ObjectController: + Controller: + name: '' + Properties: + Property: [] + - name: vehicle_01 + CatalogReference: { catalogName: sample_vehicle, entryName: sample_vehicle } + ObjectController: + Controller: + name: '' + Properties: + Property: [] + Storyboard: + Init: + Actions: + Private: + - entityRef: ego + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: '34976' + s: 10 + offset: 0 + Orientation: + type: relative + h: 0 + p: 0 + r: 0 + - entityRef: vehicle_01 + PrivateAction: + - TeleportAction: + Position: + LanePosition: + roadId: '' + laneId: '34579' + s: 0 + offset: 0 + Orientation: + type: relative + h: 0 + p: 0 + r: 0 + - ControllerAction: + AssignControllerAction: + Controller: + name: '' + Properties: + Property: + - name: maxSpeed + value: '0.5' + Story: + - name: '' + Act: + - name: _EndCondition + ManeuverGroup: + - maximumExecutionCount: 1 + name: '' + Actors: + selectTriggeringEntities: false + EntityRef: + - entityRef: ego + Maneuver: + - name: '' + Event: + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 30 + rule: greaterThan + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitSuccess + - name: '' + Event: + - name: '' + priority: parallel + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: [ entityRef: ego ] + EntityCondition: + TimeToCollisionCondition: + freespace: true + rule: lessThan + value: 0 + relativeDistanceType: longitudinal + coordinateSystem: lane + routingAlgorithm: undefined + TimeToCollisionConditionTarget: + EntityRef: + entityRef: vehicle_01 + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: [ entityRef: ego ] + EntityCondition: + TimeToCollisionCondition: + freespace: false + rule: lessThan + value: 0 + relativeDistanceType: longitudinal + coordinateSystem: lane + routingAlgorithm: undefined + TimeToCollisionConditionTarget: + EntityRef: + entityRef: vehicle_01 + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: [ entityRef: ego ] + EntityCondition: + TimeToCollisionCondition: + freespace: true + rule: lessThan + value: 0 + relativeDistanceType: longitudinal + coordinateSystem: entity + routingAlgorithm: undefined + TimeToCollisionConditionTarget: + EntityRef: + entityRef: vehicle_01 + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: [ entityRef: ego ] + EntityCondition: + TimeToCollisionCondition: + freespace: false + rule: lessThan + value: 0 + relativeDistanceType: longitudinal + coordinateSystem: entity + routingAlgorithm: undefined + TimeToCollisionConditionTarget: + EntityRef: + entityRef: vehicle_01 + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: [ entityRef: ego ] + EntityCondition: + TimeToCollisionCondition: + freespace: true + rule: lessThan + value: 0 + relativeDistanceType: cartesianDistance + coordinateSystem: entity + routingAlgorithm: undefined + TimeToCollisionConditionTarget: + EntityRef: + entityRef: vehicle_01 + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByEntityCondition: + TriggeringEntities: + triggeringEntitiesRule: any + EntityRef: [ entityRef: ego ] + EntityCondition: + TimeToCollisionCondition: + freespace: false + rule: lessThan + value: 0 + relativeDistanceType: cartesianDistance + coordinateSystem: entity + routingAlgorithm: undefined + TimeToCollisionConditionTarget: + EntityRef: + entityRef: vehicle_01 + Action: + - name: '' + UserDefinedAction: + CustomCommandAction: + type: exitFailure + StartTrigger: + ConditionGroup: + - Condition: + - name: '' + delay: 0 + conditionEdge: none + ByValueCondition: + SimulationTimeCondition: + value: 0 + rule: greaterThan + StopTrigger: + ConditionGroup: [] diff --git a/test_runner/scenario_test_runner/scenario/sample.yaml b/test_runner/scenario_test_runner/scenario/sample.yaml index d465b19c270..37d6440f158 100644 --- a/test_runner/scenario_test_runner/scenario/sample.yaml +++ b/test_runner/scenario_test_runner/scenario/sample.yaml @@ -10,16 +10,7 @@ OpenSCENARIO: revMajor: 1 revMinor: 0 ParameterDeclarations: - ParameterDeclaration: - - name: random_offset - parameterType: double - value: $(ros2 run openscenario_interpreter_example uniform_distribution -1.0 1.0) - ConstraintGroup: - - ValueConstraint: - - rule: lessOrEqual - value: 1.0 - - rule: greaterOrEqual - value: -1.0 + ParameterDeclaration: [] CatalogLocations: VehicleCatalog: Directory: @@ -54,7 +45,7 @@ OpenSCENARIO: roadId: '' laneId: LANE_ID s: 1 - offset: $random_offset + offset: 0 Orientation: type: relative h: 0