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feat(autonomous_emergency_braking): add virtual stop wall to aeb #7894

Merged
merged 4 commits into from
Jul 9, 2024
Merged

feat(autonomous_emergency_braking): add virtual stop wall to aeb #7894

merged 4 commits into from
Jul 9, 2024

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danielsanchezaran
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@danielsanchezaran danielsanchezaran commented Jul 8, 2024 •
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Description

This PR adds a virtual stop wall debug marker to the AEB module to facilitate visualization. It also adds a parameter to enable/disable the publishing of debug markers to speed up computation time if markers are not required.

Also added a maintainer.

Note: requires launch changes.

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Parent Issue:

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How was this PR tested?

PSim
image

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@danielsanchezaran
add virtual stop wall to aeb
acf77cc 
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@danielsanchezaran
add maintainer
49d38ba 
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@danielsanchezaran
add uppercase
e24bd77 
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@danielsanchezaran danielsanchezaran marked this pull request as ready for review July 8, 2024 08:07
@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) type:ci Continuous Integration (CI) processes and testing. (auto-assigned) labels Jul 8, 2024
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github-actions bot commented Jul 8, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@danielsanchezaran danielsanchezaran added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 8, 2024
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codecov bot commented Jul 8, 2024 •
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Codecov Report

Attention: Patch coverage is 0% with 21 lines in your changes missing coverage. Please review.

Project coverage is 28.64%. Comparing base (3abdced) to head (614f87f).
Report is 53 commits behind head on main.

Files Patch % Lines
...autoware_autonomous_emergency_braking/src/node.cpp 0.00% 21 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #7894      +/-   ##
==========================================
- Coverage   28.66%   28.64%   -0.02%     
==========================================
  Files        1587     1589       +2     
  Lines      116302   116357      +55     
  Branches    49661    49667       +6     
==========================================
  Hits        33334    33334              
- Misses      73890    73945      +55     
  Partials     9078     9078
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 28.66% <ø> (+<0.01%) ⬆️ Carriedforward from e24bd77

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

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@danielsanchezaran danielsanchezaran added the tag:update-codeowners-from-packages Mark for codeowners update workflow. (auto-assigned) label Jul 8, 2024
@kyoichi-sugahara
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@danielsanchezaran
Thank you so much for the PR!!!!
It appears that a stop line is showing up ahead of the front end of ego vehicle. Is this a rendering issue? From a implementation, it doesn't seem to be a problem.
image

@danielsanchezaran
use motion utils function instead of shiftPose
614f87f 
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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@danielsanchezaran Thank you so much for the PR!!!! It appears that a stop line is showing up ahead of the front end of ego vehicle. Is this a rendering issue? From a implementation, it doesn't seem to be a problem. image

Thanks for the comment, I believe there is a rendering issue. In some frames the wall looks good:
image

and others where it seems a little disjointed:
image

kyoichi-sugahara
kyoichi-sugahara approved these changes Jul 9, 2024
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LGTM! Thanks

@danielsanchezaran danielsanchezaran mentioned this pull request Jul 9, 2024
Merged
4 tasks
@danielsanchezaran danielsanchezaran merged commit d2f2fd9 into autowarefoundation:main Jul 9, 2024
30 checks passed
@danielsanchezaran danielsanchezaran deleted the feat/add-aeb-stop-wall-marker branch July 9, 2024 09:46
palas21 pushed a commit to palas21/autoware.universe that referenced this pull request Jul 12, 2024
@danielsanchezaran @palas21
feat(autonomous_emergency_braking): add virtual stop wall to aeb (aut…
aa46f78 
…owarefoundation#7894)

* add virtual stop wall to aeb

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add maintainer

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add uppercase

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* use motion utils function instead of shiftPose

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: palas21 <palas21@itu.edu.tr>
KhalilSelyan pushed a commit that referenced this pull request Jul 22, 2024
@danielsanchezaran
feat(autonomous_emergency_braking): add virtual stop wall to aeb (#7894)
832bde6 
* add virtual stop wall to aeb

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add maintainer

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add uppercase

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* use motion utils function instead of shiftPose

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Ariiees pushed a commit to Ariiees/autoware.universe that referenced this pull request Jul 22, 2024
@danielsanchezaran @Ariiees
feat(autonomous_emergency_braking): add virtual stop wall to aeb (aut…
0e9201e 
…owarefoundation#7894)

* add virtual stop wall to aeb

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add maintainer

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add uppercase

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* use motion utils function instead of shiftPose

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
danielsanchezaran added a commit to tier4/autoware.universe that referenced this pull request Sep 11, 2024
@danielsanchezaran
feat(autonomous_emergency_braking): add virtual stop wall to aeb (aut…
335288b 
…owarefoundation#7894)

* add virtual stop wall to aeb

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add maintainer

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add uppercase

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* use motion utils function instead of shiftPose

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
danielsanchezaran added a commit to tier4/autoware.universe that referenced this pull request Oct 28, 2024
@danielsanchezaran
feat(autonomous_emergency_braking): add virtual stop wall to aeb (aut…
92671e4 
…owarefoundation#7894)

* add virtual stop wall to aeb

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add maintainer

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add uppercase

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* use motion utils function instead of shiftPose

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
danielsanchezaran added a commit to tier4/autoware.universe that referenced this pull request Nov 14, 2024
@danielsanchezaran
feat(autonomous_emergency_braking): add virtual stop wall to aeb (aut…
594fc7b 
…owarefoundation#7894)

* add virtual stop wall to aeb

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add maintainer

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add uppercase

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* use motion utils function instead of shiftPose

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@danielsanchezaran danielsanchezaran mentioned this pull request Nov 14, 2024
Merged
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@soblin soblin soblin approved these changes

@kyoichi-sugahara kyoichi-sugahara kyoichi-sugahara approved these changes

@TakaHoribe TakaHoribe Awaiting requested review from TakaHoribe TakaHoribe is a code owner

@tkimura4 tkimura4 Awaiting requested review from tkimura4 tkimura4 is a code owner

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