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feat(obstacle_cruise_planner): support pointcloud-based obstacles (#6907)
* add pointcloud to obstacle properties
* add tf listener & pointcloud subscriber
* add parameters for pointcloud obstacle
* add type aliases
* convert pointcloud to obstacle
* add type alias
* add polygon conversion for pointcloud obstacle
* initialize twist & pose of pointcloud obstacle
* overload to handle both obstacle & predicted path
* implement ego behavior determination against pointcloud obstacles
* generate obstacle from point
* revert getCollisionIndex()
* generate obstacle from each point in cloud
* set pointcloud obstacle velocity to 0
* use tf buffer & listener with pointers
* update latest pointcloud data
* add topic remap
* remove unnecessary includes
* set slow down obstacle velocity to 0
* add flag to consider pointcloud obstacle for stopping & slowing down
* style(pre-commit): autofix
* downsample pointcloud using voxel grid
* change shape type of pointcloud obstacle to polygon
* convert pointcloud to obstacle by clustering
* add parameters for clustering
* add max_num_points parameter to dummy object
* downsample pointcloud when the number of points is larger than max_num_points
* add max_num_points property to dummy bus
* add parameters for pointcloud based obstacles
* store pointcloud in obstacle struct
* change obstacle conversion method
* migrate previous changes to new package
* store necessary points only
* move use_pointcloud to common parameter
* extract necessary points from pointcloud
* add use_pointcloud parameter to planner interface
* fix obstacle conversion
* fix collision point determination
* simplify pointcloud transformation
* style(pre-commit): autofix
* fix collision point determination
* pick nearest stop collision point
* check collision for every point in cluster
* migrate previous changes to new files
* reduce diff
* remove use_pointcloud parameter
* add parameters for pointcloud filtering
* add autoware namespace
* Revert "add max_num_points parameter to dummy object"
This reverts commit 98bcd08.
* Revert "downsample pointcloud when the number of points is larger than max_num_points"
This reverts commit fb00b59.
* Revert "add max_num_points property to dummy bus"
This reverts commit 5f9e4ab.
* feat(diagnostic_graph_utils): add logging tool
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* fix all OK
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* feat(default_ad_api): add log when operation mode change fails
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* get only the necessary one of object or pointcloud data
* addfield for obstacle source type
* enable simultaneous use of PredictedObjects and PointCloud
* separate convertToObstacles() by source type
* avoid using pointer
* reduce diff
* make nest shallower
* define vector concatenate function
* shorten variable names
* fix redundant condition
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Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Copy file name to clipboardexpand all lines: launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
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