Merge pull request #1643 from tier4/cherry-pick/aeb-latest-to-v4.0.0

feat(autonomous_emergency_braking): cherry pick/aeb latest to v4.0.0

Author: TomohitoAndo

.github/CODEOWNERS

@@ -44,7 +44,7 @@ common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomo
 common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
 common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp
 common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
-control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
+control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp kyoichi.sugahara@tier4.jp
 control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp

control/autoware_autonomous_emergency_braking/CMakeLists.txt

@@ -12,19 +12,29 @@ include_directories(
   ${PCL_INCLUDE_DIRS}
 )
 
+ament_auto_add_library(autoware_autonomous_emergency_braking_helpers SHARED
+  include/autoware/autonomous_emergency_braking/utils.hpp
+  src/utils.cpp
+)
+
 set(AEB_NODE ${PROJECT_NAME}_node)
 ament_auto_add_library(${AEB_NODE} SHARED
+  include/autoware/autonomous_emergency_braking/node.hpp
   src/node.cpp
 )
 
+target_link_libraries(${AEB_NODE} autoware_autonomous_emergency_braking_helpers)
 rclcpp_components_register_node(${AEB_NODE}
   PLUGIN "autoware::motion::control::autonomous_emergency_braking::AEB"
   EXECUTABLE ${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
+  ament_add_ros_isolated_gtest(test_aeb
+  test/test.cpp)
+
+target_link_libraries(test_aeb ${AEB_NODE})
+
 endif()
 
 ament_auto_package(

control/autoware_autonomous_emergency_braking/README.md

@@ -3,15 +3,20 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: false
+    use_pointcloud_data: true
+    use_predicted_object_data: true
     use_object_velocity_calculation: true
-    min_generated_path_length: 0.5
+    check_autoware_state: true
+    min_generated_imu_path_length: 0.5
+    max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1
     mpc_prediction_time_horizon: 1.5
     mpc_prediction_time_interval: 0.1
 
     # Debug
     publish_debug_pointcloud: false
+    publish_debug_markers: true
 
     # Point cloud partitioning
     detection_range_min_height: 0.0
@@ -23,9 +28,11 @@
     # Point cloud cropping
     expand_width: 0.1
     path_footprint_extra_margin: 4.0
+    speed_calculation_expansion_margin: 0.5
 
     # Point cloud clustering
     cluster_tolerance: 0.1 #[m]
+    cluster_minimum_height: 0.0
     minimum_cluster_size: 10
     maximum_cluster_size: 10000