chore: cherry pick/227 #9
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…oundation#227) * feat: function to smooth the route (see below) Description: This commit is kind of feature porting from `autoware.universe` as follows * Import `PathWithLaneId DefaultFixedGoalPlanner::modifyPathForSmoothGoalConnection` from the following `autoware.universe` code https://github.com/autowarefoundation/autoware.universe/blob/a0816b7e3e35fbe822fefbb9c9a8132365608b49/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp#L74-L104 * Also import all related functions from the `autoware.universe` side Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * bugs: fix remaining conflicts Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * Update planning/autoware_path_generator/src/utils.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * Update planning/autoware_path_generator/src/utils.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * refactor: as follows * Enhance error handlings * Remove unused variables * Simplify the code * Improve readability a little bit Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * refactor: enhance error handling Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * bug: fix wrong function declaration in header Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: fix wrong point index calculation Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: remove meaningless comment * This comment is wrote because of my misunderstanding Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: apply `pre-commit` Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: smooth path before cropping trajectory points Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: fix shadow variable Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: fix missing parameters for `autoware_path_generator` Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: fix by cpplint Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * bug: apply missing fix proposed by cpplint Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * bug: `autoware_test_utils` should be in the `test_depend` Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix(autoware_path_generator): add maintainer and author Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * fix: by pre-commit * Sorry, I was forgetting to do this on my local env. Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: smooth path only when a goal point is included Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: do error handling Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * bug: fix wrong distance calculation * The goal position is generally separate from the path points Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: remove sanity check temporary as following reasons * CI (especially unit tests) fails due to this sanity check * As this is out of scope for this PR, we will fix the bug where the start and end are reversed in another PR Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * refactor: fix complexity * We should start from the simple one * Then we can add the necessary optimization later Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: missing fixes in the include header Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: inconsistent function declaration * The type of returned value and arguments were wrong Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * Update planning/autoware_path_generator/include/autoware/path_generator/common_structs.hpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * Update planning/autoware_path_generator/src/node.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * Update planning/autoware_path_generator/src/utils.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * Update planning/autoware_path_generator/src/utils.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * style(pre-commit): autofix * fix: apply comment in the following PR * autowarefoundation#227 (comment) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: sorry, I was missing one comment to be applied Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * bug: fix wrong goal point interpolation Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * feat: add test case (goal on left side) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: fix as follows * Prevent name duplication (path_up_to_just_before_pre_goal) * Fix missing left/right bound * Goal must have zero velocity * Improve readability * Other minor fixes Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: fix duplicated zero velocity set * Zero velocity is set after the removed lines by this commit Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * feat: add one test case (goal on left side) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * Update planning/autoware_path_generator/src/utils.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * fix: apply comment from reviewer Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix(package.xml): update maintainer for the following packages * `autoware_planning_test_manager` * `autoware_test_utils` Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * Update planning/autoware_path_generator/src/node.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * Update planning/autoware_path_generator/src/utils.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> * Update planning/autoware_path_generator/src/utils.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> * bug: fix missing header in the path * This finally causes an issue that the vehicle cannot engage Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: fix an issue that smooth connection does not work Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * refactor: simplify code Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: fix wrong pose at the goal (see below) * If we return nullopt here, the original path whose goal position is located at the center line is used. * Unless far from the goal point, the path becomes smoothed one whose goal position is located at the side of road correctly. * But as the goal approaches very closely, the goal position is shifted from smoothed one to the original one * Thus, the goal pose finally becomes wrong due to the goal position shift Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * refactor: no need this line here Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * bug: fix so we follow the provided review comments Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: sorry, this is unsaved fix, ... Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * cosmetic: fix wrong comment Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: unused function `get_goal_lanelet()` remaining Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug: carefully handle the pre goal velocity * It seems zero pre goal velocity makes scenario fail - We need to insert appropriate velocity for pre goal Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * Update planning/autoware_path_generator/src/utils.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * Update planning/autoware_path_generator/src/utils.cpp Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com>
SakodaShintaro
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SakodaShintaro
requested review from
kyoichi-sugahara,
soblin,
TakaHoribe,
yhisaki,
zulfaqar-azmi-t4,
kosuke55,
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kosuke55
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Mar 11, 2025
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Description
cherry-pick
How was this PR tested?
planning_simulatorwith sample_maplogging_simulatorwith sample_rosbaglogging_simulatorwith awsim_gt_data(TIER IV INTERNAL)e2e_simulatorwith AWSIM v1.3.1Notes for reviewers
None.