fix(aeb, shape_estimation): guard pcl::fromROSMsg against empty point clouds by mertyavuz41 · Pull Request #12569 · autowarefoundation/autoware_universe

mertyavuz41 · 2026-05-11T12:05:40Z

Description

While executing planning simulator, the some modules has console spam messages that indicates the point cloud message is empty.

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

…oware_core to 1.8.0 (autowarefoundation#12540) Signed-off-by: github-actions <github-actions@github.com> Co-authored-by: github-actions <github-actions@github.com> Signed-off-by: Mert Yavuz <mert@adastec.com>

…nt cloud Signed-off-by: Mert Yavuz <mert@adastec.com>

Signed-off-by: Mert Yavuz <mert@adastec.com>

…ualizer class from Node and tidy internals (autowarefoundation#12511) * refactor(autoware_traffic_light_visualization): extract TrafficLightVisualizer from node * refactor(autoware_traffic_light_visualization): improve readability of TrafficLightVisualizer * refactor(autoware_traffic_light_visualization): inline marker namespace literal * docs(autoware_traffic_light_visualization): annotate marker_lifetime_ns with 200 ms Signed-off-by: Mert Yavuz <mert@adastec.com>

) Add masaya.kataoka@tier4.jp as a maintainer of autoware_carla_interface. Signed-off-by: Masaya Kataoka <ms.kataoka@gmail.com> Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com> Signed-off-by: Mert Yavuz <mert@adastec.com>

…ong-lived context (autowarefoundation#12550) * refactor(autoware_trajectory_modifier): pass per-frame inputs as method arguments Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(autoware_trajectory_modifier): rename FrameInputs to InputData Rename the per-frame plugin-input struct and its header file from FrameInputs/frame_inputs.hpp to InputData/input_data.hpp, plus the associated factory method make_frame_inputs() to make_input_data(). Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(autoware_trajectory_modifier): rename TrajectoryModifierData to TrajectoryModifierContext Rename the long-lived plugin-shared struct and its header file from TrajectoryModifierData/trajectory_modifier_structs.hpp to TrajectoryModifierContext/trajectory_modifier_context.hpp, and rename the corresponding member/parameter (data_/data) to context_/context. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * chore(autoware_trajectory_modifier): remove redundant comments Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * test(autoware_trajectory_modifier): declare input variables using helper functions Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(autoware_trajectory_modifier): rename `inputs` parameter to `input` The parameter name `inputs` (plural) was misleading because the type is a singular `InputData` struct, not a collection. The `s` suffix conventionally suggests a vector/container, so rename to `input` to match the type. Test helper struct `DataInputs` and the `apply_inputs` function keep their plural form since they intentionally aggregate multiple data streams. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * chore(autoware_trajectory_modifier): remove unused includes Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> --------- Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> Co-authored-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> Signed-off-by: Mert Yavuz <mert@adastec.com>

… to snake_case (autowarefoundation#12551) * refactor(autoware_traffic_light_map_based_detector): rename functions to snake_case Rename camelCase function names to snake_case per Autoware coding conventions. Test suite/case names in test_utils.cpp are aligned to PascalCase to match the other test suites in the package and comply with Google Test naming guidance. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * style(autoware_traffic_light_map_based_detector): wrap long lines after rename Wrap lines that exceeded the 100-character limit after renaming functions to snake_case, fixing cpplint failures in CI. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> --------- Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> Co-authored-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> Signed-off-by: Mert Yavuz <mert@adastec.com>

…) and unify ROI computation (autowarefoundation#12565) * refactor(autoware_traffic_light_map_based_detector): simplify detect() with helper functions Extract traffic light set selection and expect ROI config construction into small helpers so that detect() reads as orchestration logic. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(autoware_traffic_light_map_based_detector): return visible traffic lights by value Replace the output parameter of get_visible_traffic_lights() with a return value so the function signature reflects what is computed. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(autoware_traffic_light_map_based_detector): unify ROI computation and use std::optional Treat the single-transform ROI calculation as the one-element case of the multi-transform bounding ROI calculation, exposing a single get_traffic_light_roi() returning std::optional<TrafficLightRoi>. Promote the per-transform projection to project_traffic_light_to_roi() returning std::optional. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> * refactor(autoware_traffic_light_map_based_detector): replace unused visualization include with utility/query Drop the autoware_lanelet2_extension visualization header that is no longer used directly and include utility/query.hpp explicitly for the lanelet::utils::query helpers we actually call. Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> --------- Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> Co-authored-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp> Signed-off-by: Mert Yavuz <mert@adastec.com>

github-actions · 2026-05-11T12:06:03Z

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codecov · 2026-05-11T12:38:15Z

Codecov Report

❌ Patch coverage is 0% with 5 lines in your changes missing coverage. Please review.
✅ Project coverage is 22.61%. Comparing base (fc2ee6c) to head (f08f24c).
⚠️ Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
...autoware_autonomous_emergency_braking/src/node.cpp	0.00%	3 Missing ⚠️
...are_shape_estimation/src/shape_estimation_node.cpp	0.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main   #12569       +/-   ##
===========================================
+ Coverage   19.47%   22.61%    +3.14%     
===========================================
  Files        1862       51     -1811     
  Lines      129219     1667   -127552     
  Branches    44871      765    -44106     
===========================================
- Hits        25165      377    -24788     
+ Misses      83418      929    -82489     
+ Partials    20636      361    -20275

Flag	Coverage Δ
full-suite	`22.61% <0.00%> (+3.14%)`	⬆️

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xmfcx

Thanks for the iteration @mertyavuz41 — setting obstacle_ros_pointcloud_ptr_ to an empty cloud with the header before the early return addresses my earlier concern. Approving.

… clouds (autowarefoundation#12569) Signed-off-by: Mert Yavuz <mert@adastec.com> Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp>

… clouds (autowarefoundation#12569) Signed-off-by: Mert Yavuz <mert@adastec.com> Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

… clouds (autowarefoundation#12569) Signed-off-by: Mert Yavuz <mert@adastec.com> Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

… clouds (autowarefoundation#12569) Signed-off-by: Mert Yavuz <mert@adastec.com>

awf-autoware-bot Bot and others added 8 commits May 11, 2026 14:53

chore(autoware_autonomous_emergency_braking): add check for empty poi…

3170414

…nt cloud Signed-off-by: Mert Yavuz <mert@adastec.com>

fix(autoware_shape_estimation): reorder cluster empty data check

84969db

Signed-off-by: Mert Yavuz <mert@adastec.com>

mertyavuz41 requested review from MasatoSaeki, SakodaShintaro, YoshiRi, a-maumau, danielsanchezaran, go-sakayori, maxime-clem, technolojin, tzhong518 and yukkysaito as code owners May 11, 2026 12:05

github-project-automation Bot added this to Software Working Group May 11, 2026

github-project-automation Bot moved this to To Triage in Software Working Group May 11, 2026

mertyavuz41 requested review from TakaHoribe, kaancolak, kyoichi-sugahara, mkquda, ogrex, soblin and tkimura4 as code owners May 11, 2026 12:05

github-actions Bot added the component:simulation Virtual environment setups and simulations. (auto-assigned) label May 11, 2026

mertyavuz41 mentioned this pull request May 11, 2026

Eliminate "No data to copy." spam for jazzy in planning simulator demo autowarefoundation/autoware#6843

Closed

2 tasks done

mertyavuz41 added run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) labels May 11, 2026

Merge branch 'main' into main

eec9427

github-actions Bot removed component:planning Route planning, decision-making, and navigation. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) labels May 11, 2026

style(pre-commit): autofix

4769aab

xmfcx requested changes May 12, 2026

View reviewed changes

Comment thread control/autoware_autonomous_emergency_braking/src/node.cpp Resolved

mertyavuz41 and others added 4 commits May 21, 2026 10:42

Merge branch 'autowarefoundation:main' into main

de44ffa

style(autoware_emergency_braking): change log level to DEBUG

0bb1f70

Merge branch 'main' into main

09efda5

style(pre-commit): autofix

f08f24c

xmfcx changed the title ~~chore: rid of newer PCL version spam consol output messages due to empty point cloud~~ fix(aeb, shape_estimation): guard pcl::fromROSMsg against empty point clouds May 26, 2026

xmfcx approved these changes May 26, 2026

View reviewed changes

xmfcx merged commit 349c9a1 into autowarefoundation:main May 26, 2026
34 checks passed

github-project-automation Bot moved this from To Triage to Done in Software Working Group May 26, 2026

TetsuKawa pushed a commit to TetsuKawa/autoware_universe that referenced this pull request Sep 7, 2026

fix(aeb, shape_estimation): guard pcl::fromROSMsg against empty point…

fe1ff82

… clouds (autowarefoundation#12569) Signed-off-by: Mert Yavuz <mert@adastec.com>

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fix(aeb, shape_estimation): guard pcl::fromROSMsg against empty point clouds - #12569

fix(aeb, shape_estimation): guard pcl::fromROSMsg against empty point clouds#12569
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mertyavuz41 commented May 11, 2026

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