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fix(lane_change): fix dynamic reconfigure and add parameters #6276

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zulfaqar-azmi-t4
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Description

Currently dynamic reconfigure is not working in lane change module despite it was supported.
So this PR aims to fix this.
Also, some new parameters is added to the reconfigurable list.

Related links

None

Tests performed

  1. Run lane change module in psim.
  2. Add lane change debug marker
  3. Try run the following command
ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner lane_change.publish_debug_marker false
cap-.2024-02-01-15-07-51.mp4

You can also use rqt_reconfigure

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Feb 1, 2024
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 changed the title Fix lc dynamic reconfigure fix(lane_change): fix dynamic reconfigure and add parameters Feb 1, 2024
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 1, 2024
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codecov bot commented Feb 1, 2024

Codecov Report

Attention: 63 lines in your changes are missing coverage. Please review.

Comparison is base (6b1a459) 14.99% compared to head (25bc553) 14.99%.
Report is 9 commits behind head on main.

Files Patch % Lines
...g/behavior_path_lane_change_module/src/manager.cpp 5.97% 6 Missing and 57 partials ⚠️
Additional details and impacted files
@@           Coverage Diff           @@
##             main    #6276   +/-   ##
=======================================
  Coverage   14.99%   14.99%           
=======================================
  Files        1839     1839           
  Lines      127158   127169   +11     
  Branches    38099    38123   +24     
=======================================
+ Hits        19070    19074    +4     
+ Misses      86755    86710   -45     
- Partials    21333    21385   +52     
Flag Coverage Δ *Carryforward flag
differential 8.58% <5.97%> (?)
total 15.00% <ø> (+<0.01%) ⬆️ Carriedforward from 6b1a459

*This pull request uses carry forward flags. Click here to find out more.

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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the fix-lc-dynamic-reconfigure branch from 3f94f2c to 9b32d69 Compare February 16, 2024 08:53
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the fix-lc-dynamic-reconfigure branch from 9b32d69 to 25bc553 Compare February 16, 2024 08:54
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 merged commit e329fda into autowarefoundation:main Feb 19, 2024
20 of 23 checks passed
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 deleted the fix-lc-dynamic-reconfigure branch February 19, 2024 05:54
zulfaqar-azmi-t4 added a commit to tier4/autoware.universe that referenced this pull request Feb 22, 2024
…efoundation#6276)

* fix(lane_change): fix dynamic reconfigure and add parameters

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* removed unused header

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* clear marker earlier

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
satoshi-ota pushed a commit to tier4/autoware.universe that referenced this pull request Feb 23, 2024
…efoundation#6276)

* fix(lane_change): fix dynamic reconfigure and add parameters

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* removed unused header

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* clear marker earlier

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
satoshi-ota pushed a commit to tier4/autoware.universe that referenced this pull request Feb 23, 2024
…efoundation#6276)

* fix(lane_change): fix dynamic reconfigure and add parameters

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* removed unused header

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* clear marker earlier

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
StepTurtle pushed a commit to StepTurtle/autoware.universe that referenced this pull request Feb 28, 2024
…efoundation#6276)

* fix(lane_change): fix dynamic reconfigure and add parameters

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* removed unused header

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* clear marker earlier

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
zulfaqar-azmi-t4 added a commit to tier4/autoware.universe that referenced this pull request Mar 7, 2024
…efoundation#6276)

* fix(lane_change): fix dynamic reconfigure and add parameters

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* removed unused header

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* clear marker earlier

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
HansRobo pushed a commit that referenced this pull request Mar 12, 2024
* fix(lane_change): fix dynamic reconfigure and add parameters

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* removed unused header

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* clear marker earlier

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…efoundation#6276)

* fix(lane_change): fix dynamic reconfigure and add parameters

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* removed unused header

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* clear marker earlier

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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3 participants