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Merge branch 'awf-latest' into feat/keep_distance_back_static_objects_from_start_pose
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
2 parents 2b7d88f + 9530c8a commit 29571ff

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.cspell-partial.json

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@@ -5,5 +5,5 @@
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"perception/bytetrack/lib/**"
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],
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"ignoreRegExpList": [],
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"words": ["dltype", "tvmgen", "quantizer", "imageio", "mimsave"]
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"words": ["dltype", "tvmgen"]
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}

.github/CODEOWNERS

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@@ -6,10 +6,10 @@ common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.w
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common/autoware_auto_geometry/** satoshi.ota@tier4.jp
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common/autoware_auto_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
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common/autoware_auto_tf2/** jit.ray.c@gmail.com satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
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common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/** team-spatzenhirn@uni-ulm.de
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common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai
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common/autoware_point_types/** taichi.higashide@tier4.jp
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common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
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common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/** khalil@leodrive.ai
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common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/** team-spatzenhirn@uni-ulm.de
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common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp
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common/component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
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common/component_interface_tools/** isamu.takagi@tier4.jp
@@ -58,7 +58,7 @@ common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomo
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common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
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common/traffic_light_utils/** mingyu.li@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp
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common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
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control/autonomous_emergency_braking/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
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control/autonomous_emergency_braking/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
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control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
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control/control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
@@ -67,7 +67,7 @@ control/lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier
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control/mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
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control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
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control/pid_longitudinal_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/predicted_path_checker/** berkay@leodrive.ai
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control/pure_pursuit/** takamasa.horibe@tier4.jp
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control/shift_decider/** takamasa.horibe@tier4.jp
@@ -81,7 +81,7 @@ evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.j
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evaluator/tier4_metrics_rviz_plugin/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp
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launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
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launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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launch/tier4_map_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
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launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp zulfaqar.azmi@tier4.jp
@@ -98,6 +98,7 @@ localization/localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.
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localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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localization/pose_estimator_arbiter/** kento.yabuuchi.2@tier4.jp
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localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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localization/pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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localization/stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
@@ -112,7 +113,7 @@ map/map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuu
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map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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map/map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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map/map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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map/util/lanelet2_map_preprocessor/** ryohsuke.mitsudome@tier4.jp
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map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
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perception/bytetrack/** manato.hirabayashi@tier4.jp
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perception/cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
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perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
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perception/detection_by_tracker/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
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perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp taichi.higashide@tier4.jp
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perception/euclidean_cluster/** yukihiro.saito@tier4.jp
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perception/front_vehicle_velocity_estimator/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp
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perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
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perception/heatmap_visualizer/** kotaro.uetake@tier4.jp
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perception/image_projection_based_fusion/** dai.nguyen@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
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perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
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perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
@@ -146,7 +145,6 @@ perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura
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perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
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perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
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perception/tensorrt_classifier/** mingyu.li@tier4.jp
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perception/tensorrt_yolo/** daisuke.nishimatsu@tier4.jp
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perception/tensorrt_yolox/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
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perception/tracking_object_merger/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
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perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp
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perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp
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perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
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perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
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perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp
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perception/traffic_light_visualization/** yukihiro.saito@tier4.jp
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planning/behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
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planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_dynamic_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
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planning/behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
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planning/behavior_path_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
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planning/behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp
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planning/behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
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planning/behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
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planning/behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
@@ -237,7 +235,7 @@ system/diagnostic_graph_aggregator/** isamu.takagi@tier4.jp
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system/dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
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system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp
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system/duplicated_node_checker/** shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp
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system/emergency_handler/** makoto.kurihara@tier4.jp
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system/emergency_handler/** makoto.kurihara@tier4.jp ryuta.kambe@tier4.jp tetsuhiro.kawaguchi@tier4.jp
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system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp
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system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp
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system/system_error_monitor/** fumihito.ito@tier4.jp

common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp

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#include "autoware_perception_msgs/msg/traffic_signal.hpp"
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#include "autoware_perception_msgs/msg/traffic_signal_element.hpp"
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#include "tier4_perception_msgs/msg/traffic_light.hpp"
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#include "tier4_perception_msgs/msg/traffic_light_element.hpp"
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#include "tier4_perception_msgs/msg/traffic_light_roi.hpp"
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#include "tier4_perception_msgs/msg/traffic_signal.hpp"
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#include <lanelet2_core/primitives/Lanelet.h>
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#include <lanelet2_core/primitives/LineString.h>
@@ -35,9 +35,9 @@ bool isRoiValid(
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void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi);
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bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal);
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bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal);
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void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence = -1);
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void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1);
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/**
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* @brief Checks if a traffic light state includes a circle-shaped light with the specified color.

common/traffic_light_utils/src/traffic_light_utils.cpp

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roi.roi.height = roi.roi.width = 0;
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}
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bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal)
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bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal)
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{
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return signal.elements.size() == 1 &&
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signal.elements[0].shape == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN &&
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signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
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}
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void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence)
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void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence)
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{
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signal.elements.resize(1);
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signal.elements[0].shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;

common/traffic_light_utils/test/test_traffic_light_utils.cpp

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TEST(isSignalUnknown, signal_element)
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{
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tier4_perception_msgs::msg::TrafficSignal test_signal;
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tier4_perception_msgs::msg::TrafficLight test_signal;
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tier4_perception_msgs::msg::TrafficLightElement element;
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TEST(setSignalUnknown, set_signal_element)
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{
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tier4_perception_msgs::msg::TrafficSignal test_signal;
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tier4_perception_msgs::msg::TrafficLight test_signal;
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tier4_perception_msgs::msg::TrafficLightElement element;
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element.color = tier4_perception_msgs::msg::TrafficLightElement::RED;
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element.shape = tier4_perception_msgs::msg::TrafficLightElement::CROSS;

control/control_validator/config/control_validator.param.yaml

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/**:
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ros__parameters:
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publish_diag: true # if true, diagnostic msg is published
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# If the number of consecutive invalid trajectory exceeds this threshold, the Diag will be set to ERROR.
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# (For example, threshold = 1 means, even if the trajectory is invalid, Diag will not be ERROR if
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# the next trajectory is valid.)

control/control_validator/include/control_validator/control_validator.hpp

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rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_markers_;
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bool publish_diag_ = true;
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int diag_error_count_threshold_ = 0;
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bool display_on_terminal_ = true;
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control/control_validator/src/control_validator.cpp

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setupParameters();
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if (publish_diag_) {
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setupDiag();
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setupDiag();
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void ControlValidator::setupParameters()
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{
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publish_diag_ = declare_parameter<bool>("publish_diag");
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diag_error_count_threshold_ = declare_parameter<int>("diag_error_count_threshold");
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display_on_terminal_ = declare_parameter<bool>("display_on_terminal");
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control/pid_longitudinal_controller/package.xml

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Original file line numberDiff line numberDiff line change
@@ -7,6 +7,7 @@
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<maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
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<maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
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<maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
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<license>Apache 2.0</license>
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