Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2…

… into feature/arm_support
tier4 · Jan 31, 2024 · 6f512d3 · 6f512d3
2 parents 097b4cb + c37bb71
commit 6f512d3
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diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
@@ -39,10 +39,12 @@ jobs:
           fetch-depth: 0
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - run: git clone https://github.com/RobotecAI/scenario_simulator_v2_scenarios.git
+
       - name: Search packages in this repository
         id: list_packages
         run: |
-          echo package_list=$(colcon list --names-only | sed -e ':loop; N; $!b loop; s/\n/ /g') >> $GITHUB_OUTPUT
+          echo package_list=$(colcon list --names-only | tr '\n' ' ') >> $GITHUB_OUTPUT
 
       - name: Show target packages
         run: |
@@ -62,7 +64,7 @@ jobs:
       - name: Resolve rosdep
         run: |
           cd ~/ros2_ws
-          apt-get update
+          apt update
           apt install -y python3-pip
           rosdep update --include-eol-distros
           rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }}
@@ -95,8 +97,15 @@ jobs:
       - name: Scenario test
         run: |
           source ~/ros2_ws/install/setup.bash
-          cd ~/ros2_ws
-          source install/local_setup.bash
+          source ~/ros2_ws/install/local_setup.bash
           ros2 launch scenario_test_runner scenario_test_runner.launch.py workflow:='$(find-pkg-share scenario_test_runner)/config/workflow_example.yaml' global_frame_rate:=20
           ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
         shell: bash
+
+      - name: Basic test
+        run: |
+          source ~/ros2_ws/install/setup.bash
+          source ~/ros2_ws/install/local_setup.bash
+          ros2 launch scenario_test_runner scenario_test_runner.launch.py workflow:='$(find-pkg-share scenario_simulator_v2_scenarios)/workflow/basic.yaml'
+          ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
+        shell: bash
diff --git a/docs/ReleaseNotes.md b/docs/ReleaseNotes.md
@@ -11,6 +11,7 @@ Bug Fixes:bug:
 
 | Feature                        | Brief summary                                                  | Category            | Pull request                                                      | Contributor                                   |
 | ------------------------------ | -------------------------------------------------------------- | ------------------- | ----------------------------------------------------------------- | --------------------------------------------- |
+| Revert #1096                   | Revert incomplete fix for de-spawned entity.                   | `traffic_simulator` | [#1159](https://github.com/tier4/scenario_simulator_v2/pull/1159) | [HansRobo](https://github.com/HansRobo)       |
 | Fix problems in route planning | Fixed a bug in a function related to Entity's route selection. | `traffic_simulator` | [#1126](https://github.com/tier4/scenario_simulator_v2/pull/1168) | [hakuturu583](https://github.com/hakuturu583) |
 
 Minor Tweaks :oncoming_police_car:

diff --git a/simulation/traffic_simulator/CMakeLists.txt b/simulation/traffic_simulator/CMakeLists.txt
@@ -38,7 +38,6 @@ ament_auto_add_library(traffic_simulator SHARED
   src/data_type/lane_change.cpp
   src/data_type/lanelet_pose.cpp
   src/data_type/speed_change.cpp
-  src/entity/deleted_entity.cpp
   src/entity/ego_entity.cpp
   src/entity/entity_base.cpp
   src/entity/entity_manager.cpp

diff --git a/simulation/traffic_simulator/config/scenario_simulator_v2.rviz b/simulation/traffic_simulator/config/scenario_simulator_v2.rviz
@@ -2096,6 +2096,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane
                           Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (DynamicObstacleStop)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop
+                          Value: true
                       Enabled: true
                       Name: VirtualWall
                     - Class: rviz_common/Group
@@ -2378,6 +2390,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
                           Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: DynamicObstacleStop
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop
+                          Value: false
                       Enabled: false
                       Name: DebugMarker
                     - Class: rviz_common/Group

diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/deleted_entity.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/deleted_entity.hpp
diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp
@@ -32,7 +32,6 @@
 #include <traffic_simulator/api/configuration.hpp>
 #include <traffic_simulator/data_type/lane_change.hpp>
 #include <traffic_simulator/data_type/speed_change.hpp>
-#include <traffic_simulator/entity/deleted_entity.hpp>
 #include <traffic_simulator/entity/ego_entity.hpp>
 #include <traffic_simulator/entity/entity_base.hpp>
 #include <traffic_simulator/entity/misc_object_entity.hpp>

diff --git a/simulation/traffic_simulator/src/entity/deleted_entity.cpp b/simulation/traffic_simulator/src/entity/deleted_entity.cpp
diff --git a/simulation/traffic_simulator/src/entity/entity_manager.cpp b/simulation/traffic_simulator/src/entity/entity_manager.cpp
@@ -86,13 +86,7 @@ visualization_msgs::msg::MarkerArray EntityManager::makeDebugMarker() const
 
 bool EntityManager::despawnEntity(const std::string & name)
 {
-  if (!entityExists(name)) {
-    return false;
-  }
-
-  entities_[name].reset(new DeletedEntity(name, getEntityStatus(name), hdmap_utils_ptr_));
-
-  return true;
+  return entityExists(name) && entities_.erase(name);
 }
 
 bool EntityManager::entityExists(const std::string & name)
@@ -141,11 +135,7 @@ auto EntityManager::getEntityNames() const -> const std::vector<std::string>
 {
   std::vector<std::string> names{};
   for (const auto & each : entities_) {
-    // Add filter for DeletedEntity because this list is used on SimpleSensorSimulator which do not
-    // know DeletedEntity.
-    if (each.second->getEntityType().type != DeletedEntity::ENTITY_TYPE_ID) {
-      names.push_back(each.first);
-    }
+    names.push_back(each.first);
   }
   return names;
 }