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Merge branch 'main' into chore/update_cppcheck_suppressions
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.github/CODEOWNERS

+2-2
Original file line numberDiff line numberDiff line change
@@ -81,6 +81,7 @@ launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp
8181
localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** 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
8282
localization/autoware_landmark_based_localizer/autoware_landmark_manager/** 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
8383
localization/autoware_pose_covariance_modifier/** melike@leodrive.ai
84+
localization/autoware_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
8485
localization/ekf_localizer/** 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 takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
8586
localization/geo_pose_projector/** 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
8687
localization/gyro_odometer/** 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
@@ -91,7 +92,6 @@ localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masah
9192
localization/pose_estimator_arbiter/** 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
9293
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
9394
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
94-
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
9595
localization/twist2accel/** 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
9696
localization/yabloc/yabloc_common/** 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
9797
localization/yabloc/yabloc_image_processing/** 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
@@ -151,6 +151,7 @@ planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp taka
151151
planning/autoware_mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
152152
planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
153153
planning/autoware_obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
154+
planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
154155
planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
155156
planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
156157
planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
@@ -195,7 +196,6 @@ planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limi
195196
planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
196197
planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
197198
planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp
198-
planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
199199
planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp
200200
planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp
201201
planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp

.github/cppcheck-problem-matcher.json

+16
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
{
2+
"problemMatcher": [
3+
{
4+
"owner": "cppcheck",
5+
"pattern": [
6+
{
7+
"regexp": "^([^:]+):(\\d+):(\\d*):\\s(style|portability|performance|warning|error):\\s(.*)$",
8+
"file": 1,
9+
"line": 2,
10+
"column": 3,
11+
"message": 5
12+
}
13+
]
14+
}
15+
]
16+
}

.github/workflows/cppcheck-daily.yaml

+1
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@@ -18,6 +18,7 @@ jobs:
1818
run: |
1919
sudo snap install cppcheck
2020
21+
# cspell: ignore suppr
2122
- name: Run Cppcheck on all files
2223
continue-on-error: true
2324
id: cppcheck

.github/workflows/cppcheck-differential.yaml

+4
Original file line numberDiff line numberDiff line change
@@ -53,6 +53,7 @@ jobs:
5353
done
5454
echo "full-paths=$paths" >> $GITHUB_OUTPUT
5555
56+
# cspell: ignore suppr
5657
- name: Run Cppcheck on modified packages
5758
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
5859
continue-on-error: true
@@ -62,6 +63,9 @@ jobs:
6263
cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions --inline-suppr ${{ steps.get-full-paths.outputs.full-paths }} 2> cppcheck-report.txt
6364
shell: bash
6465

66+
- name: Setup Problem Matchers for cppcheck
67+
run: echo "::add-matcher::.github/cppcheck-problem-matcher.json"
68+
6569
- name: Show cppcheck-report result
6670
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
6771
run: |

codecov.yaml

+10-4
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@@ -1,11 +1,15 @@
1+
# https://docs.codecov.com/docs/commit-status#project-status
2+
13
coverage:
24
status:
35
project:
46
default:
5-
target: auto
7+
target: 0% # Make CI always succeed
8+
threshold: 100% # Make CI always succeed
69
patch:
710
default:
8-
target: auto
11+
target: 0% # Make CI always succeed
12+
threshold: 100% # Make CI always succeed
913

1014
comment:
1115
show_carryforward_flags: true
@@ -16,7 +20,9 @@ flag_management:
1620
statuses:
1721
- name_prefix: project-
1822
type: project
19-
target: auto
23+
target: 0% # Make CI always succeed
24+
threshold: 100% # Make CI always succeed
2025
- name_prefix: patch-
2126
type: patch
22-
target: auto
27+
target: 0% # Make CI always succeed
28+
threshold: 100% # Make CI always succeed

common/autoware_point_types/package.xml

+2-1
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,8 @@
44
<name>autoware_point_types</name>
55
<version>0.1.0</version>
66
<description>The point types definition to use point_cloud_msg_wrapper</description>
7-
<maintainer email="taichi.higashide@tier4.jp">Taichi Higashide</maintainer>
7+
<maintainer email="david.wong@tier4.jp">David Wong</maintainer>
8+
<maintainer email="max.schmeller@tier4.jp">Max Schmeller</maintainer>
89
<license>Apache License 2.0</license>
910

1011
<buildtool_depend>ament_cmake_core</buildtool_depend>

common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -77,7 +77,7 @@ void visualizeBound(
7777

7878
const float diff_angle =
7979
autoware::universe_utils::normalizeRadian(normal_vector_angle - curr_to_next_angle);
80-
if (diff_angle == 0.0) {
80+
if (diff_angle <= 1e-7 && diff_angle >= -1e-7) {
8181
return std::make_pair(normal_vector_angle, width);
8282
}
8383

evaluator/autoware_control_evaluator/CMakeLists.txt

+1-1
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ ament_auto_add_library(control_evaluator_node SHARED
1212
)
1313

1414
rclcpp_components_register_node(control_evaluator_node
15-
PLUGIN "control_diagnostics::controlEvaluatorNode"
15+
PLUGIN "control_diagnostics::ControlEvaluatorNode"
1616
EXECUTABLE control_evaluator
1717
)
1818

evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -48,10 +48,10 @@ using geometry_msgs::msg::AccelWithCovarianceStamped;
4848
/**
4949
* @brief Node for control evaluation
5050
*/
51-
class controlEvaluatorNode : public rclcpp::Node
51+
class ControlEvaluatorNode : public rclcpp::Node
5252
{
5353
public:
54-
explicit controlEvaluatorNode(const rclcpp::NodeOptions & node_options);
54+
explicit ControlEvaluatorNode(const rclcpp::NodeOptions & node_options);
5555
void removeOldDiagnostics(const rclcpp::Time & stamp);
5656
void removeDiagnosticsByName(const std::string & name);
5757
void addDiagnostic(const DiagnosticStatus & diag, const rclcpp::Time & stamp);
@@ -83,7 +83,7 @@ class controlEvaluatorNode : public rclcpp::Node
8383
autoware::universe_utils::InterProcessPollingSubscriber<Odometry> odometry_sub_{
8484
this, "~/input/odometry"};
8585
autoware::universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped> accel_sub_{
86-
this, "/localization/acceleration"};
86+
this, "~/input/acceleration"};
8787
autoware::universe_utils::InterProcessPollingSubscriber<Trajectory> traj_sub_{
8888
this, "~/input/trajectory"};
8989
autoware::universe_utils::InterProcessPollingSubscriber<LaneletRoute> route_subscriber_{

evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp

+16-16
Original file line numberDiff line numberDiff line change
@@ -25,23 +25,23 @@
2525

2626
namespace control_diagnostics
2727
{
28-
controlEvaluatorNode::controlEvaluatorNode(const rclcpp::NodeOptions & node_options)
28+
ControlEvaluatorNode::ControlEvaluatorNode(const rclcpp::NodeOptions & node_options)
2929
: Node("control_evaluator", node_options)
3030
{
3131
using std::placeholders::_1;
3232
control_diag_sub_ = create_subscription<DiagnosticArray>(
33-
"~/input/diagnostics", 1, std::bind(&controlEvaluatorNode::onDiagnostics, this, _1));
33+
"~/input/diagnostics", 1, std::bind(&ControlEvaluatorNode::onDiagnostics, this, _1));
3434

3535
// Publisher
3636
metrics_pub_ = create_publisher<DiagnosticArray>("~/metrics", 1);
3737

3838
// Timer callback to publish evaluator diagnostics
3939
using namespace std::literals::chrono_literals;
4040
timer_ =
41-
rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&controlEvaluatorNode::onTimer, this));
41+
rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&ControlEvaluatorNode::onTimer, this));
4242
}
4343

44-
void controlEvaluatorNode::getRouteData()
44+
void ControlEvaluatorNode::getRouteData()
4545
{
4646
// route
4747
{
@@ -64,7 +64,7 @@ void controlEvaluatorNode::getRouteData()
6464
}
6565
}
6666

67-
void controlEvaluatorNode::removeOldDiagnostics(const rclcpp::Time & stamp)
67+
void ControlEvaluatorNode::removeOldDiagnostics(const rclcpp::Time & stamp)
6868
{
6969
constexpr double KEEP_TIME = 1.0;
7070
diag_queue_.erase(
@@ -76,7 +76,7 @@ void controlEvaluatorNode::removeOldDiagnostics(const rclcpp::Time & stamp)
7676
diag_queue_.end());
7777
}
7878

79-
void controlEvaluatorNode::removeDiagnosticsByName(const std::string & name)
79+
void ControlEvaluatorNode::removeDiagnosticsByName(const std::string & name)
8080
{
8181
diag_queue_.erase(
8282
std::remove_if(
@@ -87,13 +87,13 @@ void controlEvaluatorNode::removeDiagnosticsByName(const std::string & name)
8787
diag_queue_.end());
8888
}
8989

90-
void controlEvaluatorNode::addDiagnostic(
90+
void ControlEvaluatorNode::addDiagnostic(
9191
const diagnostic_msgs::msg::DiagnosticStatus & diag, const rclcpp::Time & stamp)
9292
{
9393
diag_queue_.push_back(std::make_pair(diag, stamp));
9494
}
9595

96-
void controlEvaluatorNode::updateDiagnosticQueue(
96+
void ControlEvaluatorNode::updateDiagnosticQueue(
9797
const DiagnosticArray & input_diagnostics, const std::string & function,
9898
const rclcpp::Time & stamp)
9999
{
@@ -110,15 +110,15 @@ void controlEvaluatorNode::updateDiagnosticQueue(
110110
removeOldDiagnostics(stamp);
111111
}
112112

113-
void controlEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg)
113+
void ControlEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg)
114114
{
115115
// add target diagnostics to the queue and remove old ones
116116
for (const auto & function : target_functions_) {
117117
updateDiagnosticQueue(*diag_msg, function, now());
118118
}
119119
}
120120

121-
DiagnosticStatus controlEvaluatorNode::generateAEBDiagnosticStatus(const DiagnosticStatus & diag)
121+
DiagnosticStatus ControlEvaluatorNode::generateAEBDiagnosticStatus(const DiagnosticStatus & diag)
122122
{
123123
DiagnosticStatus status;
124124
status.level = status.OK;
@@ -131,7 +131,7 @@ DiagnosticStatus controlEvaluatorNode::generateAEBDiagnosticStatus(const Diagnos
131131
return status;
132132
}
133133

134-
DiagnosticStatus controlEvaluatorNode::generateLaneletDiagnosticStatus(const Pose & ego_pose) const
134+
DiagnosticStatus ControlEvaluatorNode::generateLaneletDiagnosticStatus(const Pose & ego_pose) const
135135
{
136136
const auto current_lanelets = [&]() {
137137
lanelet::ConstLanelet closest_route_lanelet;
@@ -162,7 +162,7 @@ DiagnosticStatus controlEvaluatorNode::generateLaneletDiagnosticStatus(const Pos
162162
return status;
163163
}
164164

165-
DiagnosticStatus controlEvaluatorNode::generateKinematicStateDiagnosticStatus(
165+
DiagnosticStatus ControlEvaluatorNode::generateKinematicStateDiagnosticStatus(
166166
const Odometry & odom, const AccelWithCovarianceStamped & accel_stamped)
167167
{
168168
DiagnosticStatus status;
@@ -198,7 +198,7 @@ DiagnosticStatus controlEvaluatorNode::generateKinematicStateDiagnosticStatus(
198198
return status;
199199
}
200200

201-
DiagnosticStatus controlEvaluatorNode::generateLateralDeviationDiagnosticStatus(
201+
DiagnosticStatus ControlEvaluatorNode::generateLateralDeviationDiagnosticStatus(
202202
const Trajectory & traj, const Point & ego_point)
203203
{
204204
const double lateral_deviation = metrics::calcLateralDeviation(traj, ego_point);
@@ -214,7 +214,7 @@ DiagnosticStatus controlEvaluatorNode::generateLateralDeviationDiagnosticStatus(
214214
return status;
215215
}
216216

217-
DiagnosticStatus controlEvaluatorNode::generateYawDeviationDiagnosticStatus(
217+
DiagnosticStatus ControlEvaluatorNode::generateYawDeviationDiagnosticStatus(
218218
const Trajectory & traj, const Pose & ego_pose)
219219
{
220220
const double yaw_deviation = metrics::calcYawDeviation(traj, ego_pose);
@@ -230,7 +230,7 @@ DiagnosticStatus controlEvaluatorNode::generateYawDeviationDiagnosticStatus(
230230
return status;
231231
}
232232

233-
void controlEvaluatorNode::onTimer()
233+
void ControlEvaluatorNode::onTimer()
234234
{
235235
DiagnosticArray metrics_msg;
236236
const auto traj = traj_sub_.takeData();
@@ -278,4 +278,4 @@ void controlEvaluatorNode::onTimer()
278278
} // namespace control_diagnostics
279279

280280
#include "rclcpp_components/register_node_macro.hpp"
281-
RCLCPP_COMPONENTS_REGISTER_NODE(control_diagnostics::controlEvaluatorNode)
281+
RCLCPP_COMPONENTS_REGISTER_NODE(control_diagnostics::ControlEvaluatorNode)

evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp

+29
Original file line numberDiff line numberDiff line change
@@ -21,12 +21,17 @@
2121
#include "tf2_ros/buffer.h"
2222
#include "tf2_ros/transform_listener.h"
2323

24+
#include <autoware/route_handler/route_handler.hpp>
25+
#include <autoware/universe_utils/ros/polling_subscriber.hpp>
26+
2427
#include "autoware_perception_msgs/msg/predicted_objects.hpp"
2528
#include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp"
2629
#include "autoware_planning_msgs/msg/trajectory.hpp"
2730
#include "autoware_planning_msgs/msg/trajectory_point.hpp"
2831
#include "diagnostic_msgs/msg/diagnostic_array.hpp"
32+
#include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
2933
#include "nav_msgs/msg/odometry.hpp"
34+
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
3035

3136
#include <array>
3237
#include <deque>
@@ -43,6 +48,9 @@ using autoware_planning_msgs::msg::TrajectoryPoint;
4348
using diagnostic_msgs::msg::DiagnosticArray;
4449
using diagnostic_msgs::msg::DiagnosticStatus;
4550
using nav_msgs::msg::Odometry;
51+
using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
52+
using autoware_planning_msgs::msg::LaneletRoute;
53+
using geometry_msgs::msg::AccelWithCovarianceStamped;
4654
/**
4755
* @brief Node for planning evaluation
4856
*/
@@ -88,20 +96,40 @@ class PlanningEvaluatorNode : public rclcpp::Node
8896
DiagnosticStatus generateDiagnosticStatus(
8997
const Metric & metric, const Stat<double> & metric_stat) const;
9098

99+
/**
100+
* @brief publish current ego lane info
101+
*/
102+
DiagnosticStatus generateLaneletDiagnosticStatus();
103+
104+
/**
105+
* @brief publish current ego kinematic state
106+
*/
107+
DiagnosticStatus generateKinematicStateDiagnosticStatus(
108+
const AccelWithCovarianceStamped & accel_stamped);
109+
91110
private:
92111
static bool isFinite(const TrajectoryPoint & p);
93112
void publishModifiedGoalDeviationMetrics();
113+
// update Route Handler
114+
void getRouteData();
94115

95116
// ROS
96117
rclcpp::Subscription<Trajectory>::SharedPtr traj_sub_;
97118
rclcpp::Subscription<Trajectory>::SharedPtr ref_sub_;
98119
rclcpp::Subscription<PredictedObjects>::SharedPtr objects_sub_;
99120
rclcpp::Subscription<PoseWithUuidStamped>::SharedPtr modified_goal_sub_;
100121
rclcpp::Subscription<Odometry>::SharedPtr odom_sub_;
122+
autoware::universe_utils::InterProcessPollingSubscriber<LaneletRoute> route_subscriber_{
123+
this, "~/input/route", rclcpp::QoS{1}.transient_local()};
124+
autoware::universe_utils::InterProcessPollingSubscriber<LaneletMapBin> vector_map_subscriber_{
125+
this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()};
126+
autoware::universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped> accel_sub_{
127+
this, "~/input/acceleration"};
101128

102129
rclcpp::Publisher<DiagnosticArray>::SharedPtr metrics_pub_;
103130
std::shared_ptr<tf2_ros::TransformListener> transform_listener_{nullptr};
104131
std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
132+
autoware::route_handler::RouteHandler route_handler_;
105133

106134
// Parameters
107135
std::string output_file_str_;
@@ -116,6 +144,7 @@ class PlanningEvaluatorNode : public rclcpp::Node
116144

117145
Odometry::ConstSharedPtr ego_state_ptr_;
118146
PoseWithUuidStamped::ConstSharedPtr modified_goal_ptr_;
147+
std::optional<AccelWithCovarianceStamped> prev_acc_stamped_{std::nullopt};
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};
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} // namespace planning_diagnostics
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evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml

+6
Original file line numberDiff line numberDiff line change
@@ -1,19 +1,25 @@
11
<launch>
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<arg name="input/odometry" default="/localization/kinematic_state"/>
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<arg name="input/acceleration" default="/localization/acceleration"/>
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<arg name="input/trajectory" default="/planning/scenario_planning/trajectory"/>
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<arg name="input/reference_trajectory" default="/planning/scenario_planning/lane_driving/motion_planning/path_optimizer/trajectory"/>
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<arg name="input/objects" default="/perception/object_recognition/objects"/>
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<arg name="input/modified_goal" default="/planning/scenario_planning/modified_goal"/>
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<arg name="input/map_topic" default="/map/vector_map"/>
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<arg name="input/route_topic" default="/planning/mission_planning/route"/>
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<!-- planning evaluator -->
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<group>
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<node name="planning_evaluator" exec="planning_evaluator" pkg="autoware_planning_evaluator">
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<param from="$(find-pkg-share autoware_planning_evaluator)/param/planning_evaluator.defaults.yaml"/>
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<remap from="~/input/odometry" to="$(var input/odometry)"/>
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<remap from="~/input/acceleration" to="$(var input/acceleration)"/>
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<remap from="~/input/trajectory" to="$(var input/trajectory)"/>
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<remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)"/>
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<remap from="~/input/objects" to="$(var input/objects)"/>
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<remap from="~/input/modified_goal" to="$(var input/modified_goal)"/>
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<remap from="~/input/route" to="$(var input/route_topic)"/>
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<remap from="~/input/vector_map" to="$(var input/map_topic)"/>
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<remap from="~/metrics" to="/diagnostic/planning_evaluator/metrics"/>
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</node>
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</group>

evaluator/autoware_planning_evaluator/package.xml

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Original file line numberDiff line numberDiff line change
@@ -16,6 +16,7 @@
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<depend>autoware_motion_utils</depend>
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<depend>autoware_perception_msgs</depend>
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<depend>autoware_planning_msgs</depend>
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<depend>autoware_route_handler</depend>
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<depend>autoware_universe_utils</depend>
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<depend>diagnostic_msgs</depend>
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<depend>eigen</depend>

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