feat(behavior_path_planner): resample output path (backport #1604) by h-ohta · Pull Request #782 · tier4/autoware_universe

h-ohta · 2023-08-31T01:52:46Z

Description

feat(behavior_path_planner): resample output path autowarefoundation/autoware_universe#1604 のbackport
https://tier4.atlassian.net/browse/AEAP-661
で起きている問題を改善するため、behavior_pathの経路出力のタイミングで、spline補間を実施するようにする
以下PRと一緒に確認する
https://github.com/tier4/autoware_launch.x1.eve/pull/422

Tests performed

https://tier4.atlassian.net/browse/AEAP-661 の「対策」欄にて効果確認した結果を記載している

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.
The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

* feat(behavior_path_planner): resample output path Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update param Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

yn-mrse · 2023-09-19T03:41:23Z

@h-ohta
このロジックとしてのワーストケースは短い区間で曲率が
大きく変化する車線（S字狭路など）かと思われますが、
バリエーションとしてはきりがないので
いったんL字狭路まで動作確認のうえ
リスクとしては提示する方針で良さそうでしょうか？

h-ohta · 2023-09-19T03:45:03Z

このロジックとしてのワーストケースは短い区間で曲率が
大きく変化する車線（S字狭路など）かと思われますが、
バリエーションとしてはきりがないので
いったんL字狭路まで動作確認のうえ
リスクとしては提示する方針で良さそうでしょうか？

これについてはそうとも言えないと思いますが、確かに何かしらの経路に対してこれまでとは違う経路が出来る可能性はあると思います。
リスクとしては提示したほうがいいのは同意です。

yn-mrse

リグレッション確認としてのクライテリアであるL字狭路までの動作確認は済んでいるためApproveします。

ただし、マージ後に下記のいずれかが必要と思われます。

リリース評価でS字狭路などを通過できることを動作確認
リリース時の申し送りとしてS字狭路などで走行できなくなるリスクの提示

h-ohta · 2023-09-19T03:58:10Z

ただし、マージ後に下記のいずれかが必要と思われます。

リリース評価でS字狭路などを通過できることを動作確認
リリース時の申し送りとしてS字狭路などで走行できなくなるリスクの提示

どういう経路が通れなくなっているかという定量的なものを出すことは難しいため、どのような試験をリリース評価で実施するかの判断が難しいと思います。
出来るのはリスクの提示までになってしまうと思います

h-ohta · 2023-09-19T03:58:54Z

このあたりは嶋さんと変化点確認の中で相談することとします

…1604) (#782)" This reverts commit 05a6073.

) feat(behavior_path_planner): resample output path (#1604) * feat(behavior_path_planner): resample output path * update param Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix(system_monitor): extend command line to display (backport autowarefoundation#4553) (#768) fix(system_monitor): extend command line to display (autowarefoundation#4553) Signed-off-by: ito-san <fumihito.ito@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> * feat(behavior_path_planner): resample output path (backport #1604) (#782) feat(behavior_path_planner): resample output path (#1604) * feat(behavior_path_planner): resample output path * update param Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> * ci: add dispatch-push-event workflow (#803) * ci: add dispatch-push-event workflow Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * fix: change APP KEY Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: use strategy Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: change trigger Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * pre-commit fixes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * Update .github/workflows/dispatch-push-event.yaml * Update .github/workflows/dispatch-push-event.yaml * style(pre-commit): autofix * Update .github/workflows/dispatch-push-event.yaml --------- Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909) * fix(behavior_path): only apply spline interpolate for output, not for turn_signal processing * fix implementation * ci(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(behavior_path): fix base points vanishing and inconsistent lane_ids on the spline interpolated path (#929) * add base points to resampled path in behavior_path * Revert "fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909)" This reverts commit c80c986. * ci(pre-commit): autofix * fix insert * fix: not interpolate behavior velocity path * Revert "Revert "fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909)"" This reverts commit e6dd540. --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(system_monitor): fix program command line reading (backport autowarefoundation#5191, autowarefoundation#5430) (#995) * perf(system_monitor): fix program command line reading (autowarefoundation#5191) * Fix program command line reading Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * fix spelling commandline->command_line Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(system_monitor): output command line (autowarefoundation#5430) * fix(system_monitor): output command line Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com> * feat(obstacle_stop): upd obstacle hunting (#1068) * Adapted from PR #1458 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR #1627 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * fix parameter name Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR #2647 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * ci(pre-commit): autofix * fix build error * ci(pre-commit): autofix * remove comment line * remove logic * Delete parameters other than those added this time * ci(pre-commit): autofix * add stop vehicle check * ci(pre-commit): autofix * fix stop velocity threshold * fix engage obstacle clear and stop threshold * ci(pre-commit): autofix --------- Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(obstacle_avoidance_planner): add empty check (#1285) * fix(obstacle_avoidance_planner): add empty check * ci(pre-commit): autofix * add invalid_argument * delete empty check * return code moved to end * add warning log * update rclcpp_debug * delete debug log * Delete unnecessary blank lines --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(virtual traffic light): suppress lauch (#1290) * suppress launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add existence check Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com> * revert: #929,#909,#782 * revert: #1068 - d56c191. --------- Signed-off-by: ito-san <fumihito.ito@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com> Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>

h-ohta changed the title ~~feat(behavior_path_planner): resample output path (#1604)~~ feat(behavior_path_planner): resample output path (backport #1604) Aug 31, 2023

h-ohta marked this pull request as ready for review September 11, 2023 07:46

h-ohta requested review from YoheiMishina, asa-naki and yn-mrse September 11, 2023 07:46

yn-mrse approved these changes Sep 19, 2023

View reviewed changes

h-ohta merged commit 05a6073 into beta/v0.3.17 Sep 19, 2023

h-ohta deleted the backport/1604 branch September 19, 2023 03:59

h-ohta mentioned this pull request Oct 4, 2023

fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing #909

Merged

7 tasks

KeisukeShima added a commit that referenced this pull request Oct 5, 2023

Revert "feat(behavior_path_planner): resample output path (backport #…

214f376

…1604) (#782)" This reverts commit 05a6073.

asa-naki added a commit that referenced this pull request Sep 17, 2024

revert: #929,#909,#782

7cf1368

asa-naki mentioned this pull request Sep 18, 2024

feat: v0.3.19 rebase #1540

Merged

Navigation Menu

Repository navigation

feat(behavior_path_planner): resample output path (backport #1604) - #782

feat(behavior_path_planner): resample output path (backport #1604)#782
h-ohta merged 1 commit into
beta/v0.3.17from
backport/1604

h-ohta commented Aug 31, 2023 •

edited by yn-mrse

Loading

Uh oh!

yn-mrse commented Sep 19, 2023

Uh oh!

h-ohta commented Sep 19, 2023

Uh oh!

yn-mrse left a comment

Uh oh!

h-ohta commented Sep 19, 2023

Uh oh!

h-ohta commented Sep 19, 2023

Uh oh!

Reviewers

Uh oh!

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

Conversation

h-ohta commented Aug 31, 2023 • edited by yn-mrse Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Description

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

Uh oh!

yn-mrse commented Sep 19, 2023

Uh oh!

h-ohta commented Sep 19, 2023

Uh oh!

yn-mrse left a comment

Choose a reason for hiding this comment

Uh oh!

h-ohta commented Sep 19, 2023

Uh oh!

h-ohta commented Sep 19, 2023

Uh oh!

Reviewers

Uh oh!

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

h-ohta commented Aug 31, 2023 •

edited by yn-mrse

Loading