chore: sync upstream #979
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chore: sync upstream #979
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…reas (autowarefoundation#5264) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
…foundation#5265) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
* feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * feat(kalman_filter): add gtest Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> * style(pre-commit): autofix --------- Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…arefoundation#5268) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
…utowarefoundation#5273) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…autowarefoundation#5236) * feat(lane_change): keep distance against avoidable stationary objects Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> consider rss distance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> tmp Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix dangling Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * use parameter for velocity_treshold Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * check object only on the ego path Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
…en the ego is in stuck (autowarefoundation#5249) * [lane_change] sampling all possible longitudinal acceleration when the ego is in stuck Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add clock Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * fix style Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
…5276) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…on#5279) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…g time topic (autowarefoundation#5274) * refactor(path_smoother): output processing time topic Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(obstacle_avoidance_planner): output processing time topic Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * Update planning/path_smoother/src/elastic_band_smoother.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/path_smoother/src/elastic_band_smoother.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/obstacle_avoidance_planner/src/node.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update planning/obstacle_avoidance_planner/src/node.cpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
…#5266) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…towarefoundation#5281) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…foundation#5267) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…utowarefoundation#5278) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…ion (autowarefoundation#5277) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
…owarefoundation#5032) * feat(avoidance): check if the avoidance path is in drivable area Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): remove redundant function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(utils): add guard Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
…efoundation#5287) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
…ics (autowarefoundation#5222) * Add Init Localization and Init Planning Check; Add error list check Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * int casting problem updated Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * improve if statement writing styles Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * FIX ci Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * subscribe to ADAPI for more stable status checking Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * try using level attribute only Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * fix hpp so that it just look like the original hpp Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * set default value to NO_FAULT Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…utowarefoundation#5194) refactor(behavior_path_planner): remove planner data used variable Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…d goal (autowarefoundation#5290) fix(goal_planner): disable freespace pull over after arriving modified goal Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…r radar object and conventional lidar object (autowarefoundation#4340) * init package: migrate from object merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add node outline and check build passed Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add util functions to interpolate tracked objs Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add object merger function using interpolation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * create object merger utils Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add kinematics velocity merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add association and merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * rename perception_utils to object_recognition_utils Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add comment and complete main subscriber Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add parameter control and rename some executable files Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * refactoring: fix apparent bugs Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add debug tools to check association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * temporary fix: radar tracker node name to anon Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * debug: data association tuning Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * rename copyright and add merger util function Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add tracker_state and update association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update decorative tracker by using tracker_state Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update system around measurement state function Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix radar object not merged problem Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add existence probability control Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * create const function Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * change association settings depend on measurement and tracker state Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix association matrix Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * put hardcoded node parameter to yaml file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * move tracker state parameter to yaml file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * remove prediction failed objects Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix bug when none closest time sub objects found Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add velocity diff gate in association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix object interpolation problem Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * use fixed object interpolation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add README Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add interpolated sub object publisher for debug Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add debug message and fix interpolation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update README Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix unintended changes in radar tracking launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add CmakeLists version Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * remove unnecessary debug description and type cast causes build warning Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix spell-check error Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * replace autoware_utils.hpp Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Update the broken link The given link was broken. I have updated with the correct link.
…tart planner (autowarefoundation#5240) * update doc Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * rotate foot print Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…arefoundation#5078) * Added output_pose_with_cov_to_log Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added logging particles Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added TreeStructuredParzenEstimator Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * FIxed to run TPE Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed initial pose Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed Input type Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed good condition Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed operation if good_num_ == 0 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed cov Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed parameter Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed initial Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to use good_threshold_ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to count good_num_ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed stddev Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed parameter Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed parameters Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed unused functions Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to abs Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed parameters Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * FIxed parameter Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * add_trial by result Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * FIxed constructor Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * FIxed to use n_startup_trials_ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed parameters Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added kTargetScore Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed constants Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed output_pose_with_cov_to_log Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed a comment Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added a parameter "n_startup_trials" Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include guard Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed hyphen to underscore Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added sample_from_prior Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to use log_sum_exp Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed acquisition_function Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed n_startup_trials_ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to 99% Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed n_startup_trials_ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed value of n_startup_trials Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed log output Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed default value Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed static distributions Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed PRIOR_WEIGHT Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed order Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added operator* to Input Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed parameters Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Implemented normal tpe Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added is_loop_variable Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Organized PRIOR_WEIGHT Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed PRIOR_WEIGHT 0.0 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added CONVERT_COEFF Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed n_startup_trials Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Renamed acquisition_function to compute_log_likelihood_ratio Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Changed random number generator to static variables Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added reference Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed base_stddev_ to a const variable Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to use VALUE_WIDTH Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed a comment Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added `n_startup_trials` to README.md Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added a test about tpe Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added the license statement Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Changed default `n_startup_trials` to 20 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed sqrt(2) and added comments Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * Added comments Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * Added comments Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…utowarefoundation#5271) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…ndation#5291) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…utowarefoundation#5172) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>
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Features
Bug Fixes
-Werror=float-conversion(fix(tier4_autoware_utils): fix-Werror=float-conversionautowarefoundation/autoware_universe#5301)validate_num_iteration(fix(ndt_scan_matcher): fixvalidate_num_iterationautowarefoundation/autoware_universe#5354)Documentation
Code Refactoring
align_using_monte_carlo, etc. (refactor(ndt_scan_matcher): renamealign_using_monte_carlo, etc. autowarefoundation/autoware_universe#5351)Performance Improvements
Tests
Chores