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fix(avoidance): the module ignored merging objects unexpectedly #6601
fix(avoidance): the module ignored merging objects unexpectedly #6601
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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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@Owen-Liuyuxuan Could you review this code? Ota-san will test scenario so please just check the code. |
Thanks for the great response and contribution. The refactoring improves the readability of the codes; the codes update the target object filtering logic which should correctly implement the logic we hope to have. I notice that |
@@ -188,10 +188,25 @@ MarkerArray createObjectInfoMarkerArray(const ObjectDataArray & objects, std::st | |||
return msg; | |||
} | |||
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MarkerArray createOverhangLaneletMarkerArray(const ObjectDataArray & objects, std::string && ns) |
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Will there be additional documentation or image showing the usage of this marker?
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@Owen-Liuyuxuan Thank you for your comment.
Unfortunatelly, there is no document about overhang lanelet. It is one of the ego driving lanelets (closest lanelet to the object) and used in the logic to check whether the object is on the ego lane.
Actually, it is difficult to understand without any comment. So, I'll add above brief explanation on code.
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@Owen-Liuyuxuan I updated comment in code in 1344e6c.
Please check autowarefoundation/autoware_launch#923 as well. |
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #6601 +/- ##
==========================================
- Coverage 14.79% 14.79% -0.01%
==========================================
Files 1920 1920
Lines 132379 132399 +20
Branches 39345 39360 +15
==========================================
+ Hits 19584 19586 +2
- Misses 90950 90963 +13
- Partials 21845 21850 +5
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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LGTM
…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Description
Related PR: autowarefoundation/autoware_launch#923
Related ticket: https://tier4.atlassian.net/browse/RT1-202
Fix bug. The module ignored merging vehicle unexpectedly. Originally, I designed the module generates avoidance path for every objects that are NOT on ego lane. (Only for objects in intersection, the module sometimes ignores them.)
simplescreenrecorder-2024-03-14_16.26.27.mp4
And, this PR includes small refactoring as well.
Tests performed
Effects on system behavior
Nothing.
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